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Yes the engine needs to be jacked up to gain clearance for the pan to be removed. Unblolt each engine mount from the K-member, I also unbolted the transmission mount.
It says in the Haynes manual that you will need to unbolt the oil pump pickup tube from the oil pump. You will need a replacement gasket for the pickup tube to oil pump. A few guys have said they got their pans out without raising the engine, but you better be prepared to do so. It seems the consensus is to raise the engine.
I just recently replaced my oil pan gasket in my 95 F150 I6, 4x4, man trans. It was not as easy as I figured it to be. The engine would not go high enough for the oil pan to come out. If you did manage to get the engine high enough for clearance it would be necessary to remove oil pick up tube to give oil pan room to get out. My oil pan lacked 1/2 an inch clearing the transmission to get out. The engine was stopped in going higher by windshield motor and what appeared to be some kind of vacuum advance unit.
Good luck,
Charles