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Normally there's a procedure like, turn the key ON, press the brake twice, open/close a door, operate door locks, etc. Procedures vary and I'm not sure their the same for all years.
Reading the manual for my 09 Escape it states that you must have at least two working remotes to program others. A dealer probably has other ways of doing it.
programming remote transmitters
It is necessary to have all(maximum of four — original and/or new) of
your remote transmitters available prior to beginning this procedure.
To program the transmitters yourself:
• Insert a key in the ignition and
turn from 1 (LOCK) to 3 (RUN)
eight times in rapid succession
(within 10 seconds) with the
eighth turn ending in the 3
(RUN) position. The doors will
lock/unlock to confirm that
programming mode has been
entered.
• Within 20 seconds, program a
remote transmitter by pressing any button on a transmitter. The doors
will lock/unlock to confirm that the remote transmitter has been
programmed. (If more than 20 seconds pass before pressing a remote
transmitter button, the programming mode will exit and the procedure
will have to be repeated.)
• Repeat the previous step to program additional remote transmitters.
The doors will lock/unlock to confirm that each remote transmitter has
been programmed.
• When you have completed programming the remote transmitters, turn
the ignition to 1 (LOCK) or wait 20 seconds. Again the doors will
lock/unlock to confirm programming has been completed
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