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I looked at an '01 F150 at a dealer and asked the same question, he showed me a small sticker under the dash with 5 numbers on it. It was near the steering column.
Most of the cars have these stickers on the inside of the trunk lid and on a passenger side door jam. My '90 SHO has these and I've also seen them on a '95 T-Bird, ,01 Grand Marquis all with the keypad on the drivers door.