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The VIN you provided is a 2001 XLT 4x4 5.4L (the decoder doesn't say it's a 4x4, but I know that for the XLT, the U15 model code is 4x2 and U16 is 4x4). Can't tell any more from the VIN except that it was built at Michigan Truck and the production sequence is B55581 (which means it's neither an early nor late build, right in the middle, doesn't tell you anything).
Not sure about the differential. What is the axle code on the driver's door pillar?