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I can usually track these down, but this one is eluding me. It seems to be coming from the rear passenger side and really only bad when turning left or veering left at slow speeds.
A ChassisEar would definitely help here. Can you determine if the noise seems to be interior or exterior? What year and sub-model is your Explorer? I've seen quite a few Sport sub-models with loose (rusted) running boards.... I've also experienced that noises, especially interior noises, can easily telescope and sound like they're coming from a completely different area.
I have seen on several occasions a dry ball joint or outer tie rod end on older Fords get dry and squeak. All that I have seen were on the front, and the newest I encountered was a 1998 model year. My method for identifying which part was the culprit was to use a small pick to poke a small hole in the dust boot of one of the joints. Then I inserted the straw from an aerosol can of white lithium grease through the hole and gave it a squirt. Remove the straw from the hole and bounce the vehicle a few times. If the sound changed or vanished, I knew I found the right part. It never took more than a bounce or two to notice a change in sound once I found the noisy joint.
There's nothing saying the same couldn't/wouldn't apply to the rear ball joints in your Explorer, but also don't necessarily rule out that it could be coming from the front. A second person standing outside the truck may be able to more clearly identify at least which corner of the vehicle the noise is coming from.