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I have read a lot of great feedback for Bilsteins (and even other brands like Monroe, Edelborck, etc.) and their improvement over OEM/Motorcraft. But all I read is how great they are over stock or the "improved the ride dramatically" type of answers.
How DO they ride? Characteristics? Firm, stiff, smooth, soft, etc.? Most importantly the highway ride.
Honestly, you can't go wrong with the Bilsteins. I run the HD versions on my 07 and have a very smooth and comfortable ride. The ride is a bit firmer but not in a bad way.
I've run Monroe Reflex/Rancho RSX shocks on my 98, 01 and 03 F150s. I found the ride to be much firmer then stock. But not uncomfortable.
I think when you select the shocks you want to try, you will be amazed at how crappy a job your originals were doing.
I like Bilsteins. You could think 'taut', not 'harsh' even for the HD or 'Sport' models. Even the standard Bilsteins are what I consider a 'life of the vehicle' replacement. This is exactly what I would use should I want to replace the struts/shocks on my 2007, but that will not be happening for many years. I am not one of those who 'disses' factory shocks on any vehicle. I have been messing with shocks, struts, springs, sway bars and bushings on many different vehicles for 40 years, and have determined that for most drivers simply replacing worn suspension parts with factory parts is best. This maintains or restores that 'new car' ride that you loved so much when you got the new vehicle. The problem with that is the cost to get the factory stuff - you can always get a premium aftermarket part for the same price - hence the Bilstein shocks, which maintain the needed flexibility and quiet ride of the vehicle while equaling or exceeding the jounce control of the original. Still, I would not spend for new shocks until I was convinced the originals were pretty well worn. The suspension on the late-model Ford trucks is exceptional and I wouldn't want to unbalance it as long as the shocks were still okay. Shocks in general get blamed for a lot that they have nothing to do with, such as harshness/road noise as the vehicle ages. For that you have to look at the rubber parts, starting with the tires and tire pressures and working up toward the body with bushings, mounts and insulators.
bilstein shocks are the best shocks in my opinion fox shocks are also amazing get the bilstein 5150 shocks i had them in the rear of my truck and loved them but now i have the remote resivior in the rear these shocks never fade or wear out