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It's definitely doable (I'm not an E4OD fan). I got a nasty letter from Motorcraft after I posted some of their copyrighted literature on another forum (hard to believe as illegal IDS copies are being sold on FTE) --- recommend you just do an internet search for the diagrams (example below) or spend 20 bucks or so for the tech book on ebay or amazon......
As long as both transmissions are from the same drivetrain configuration (2wd or 4wd) and have the same bellhousing groups (4.9/5.0/5.8, 7.5 or diesel) then it's an easy swap.
The 1994 should have the new style MLPS I believe. If this is the case I suggest upgrading the connector on your 1991 to the later version. They both have the same design solenoid packs. You may have to swap shifter arms on the side of the transmission.
If your truck is 2wd then the 1994 swap is a bigger problem. It has no provision for the speedometer drive gear.