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The SOHC debuted in the Explorer in 1997 so I am not sure about when the Ranger got it. You will see a dust cover that says SOHC 4.0 on the top of it. It will also be obvious when you drive it. If it's a stick shift, it will be an OHV 4.0 which is the pushrod motor.
Btw, both motors are "cammers". If it didn't have a cam, those valves aren't ever going to open. The OHV is just a pushrod cammer, and the SOHC is an umm...overhead spinning cam + lobe "cammer".
I, too, am not certain when the SOHC was introduced to the Ranger line. You can tell from the VIN #. The OHV is code 'X' and the SOHC is code 'E'. (Can't remember which position in the VIN # is the engine code.)