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I have had two Explorers, a 1994 and presently a 1997 with the SOHC 4.0. Both Explorers have/are over a 100,000 miles with no major problems. The only issues I have had were on the 97, the timing chain tensioners (replaced under warrenty) and the shift motor on the transfer case (failed). Other than that no problems. Both Explorers average over 20 mpg highway (my main use), I have made it as high as 24 mpg on the 1997 Explorer. This is govered by the real axle (mine is 3.55) and if you have a lead foot.
I looked at the V8 Explorer, as I am very familiar with the 302 motor, but found the 4.0 SOHC to be just as good power wise, with better gas milage due to not having AWD. The 4 wheel Auto does a good job in the sloppy weather ( rain, sleet, snow) until you have total snow cover on road, then I recommend putting it into 4 wheel high as the 4 wheel auto goes nuts in fulll snow cover. I do tow a boat with my 97, and have borrowed my friends 99 with the V8 as a comparision. No real diffrence unless you are towing something really heavy or a long distance, I would stay with the V6. The gas milage diffrence more than makes up for it (my friend gets 14-18 to my 20-24 with same rear axle).
i have a 99 explorer with 83k have had quite a bit of trouble just rebuit the front differental replaced the u joint and last winter it wouldn't idle when it was cold costed about 700 dollars to fix it just gets 16 mpg not real good don't know if i'd buy another
I have a 98 awd, use it for family, camping (off road) and towing (especially other makes of cars) 132k and still going. You will get about 15 mpg all of the time but on slick surfaces, it is all traction.
Older model explorers have few engine problems(atleast in my case only a thermostat) Some sensors go out, but all cars have similar problems. Electrical problems are here and there, the problems are easily fixed if you have a little experience. Drivetrain is the only big problem, just keep an eye on the u-joints and check the fluid in the tran on a week to week basis. My 96 4.0 XLT is at 150K and only a few minor problem, in my opinion it is a great workhorse. One final thing...keep your fluids clean and full.