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The thing is with the 5.4L is that it loves RPMS, so yeah it sounds like you are working it hard, but really, 3Krpms is where it makes its power and is the happiest. I geared my truck down to take advantage of the where the 5.4L makes most of its power and I couldn't be happier with the results.
Plus if you open up the intake and exhaust it helps them out tremendously.
Guys I just need to voice my $.02 about our 5.4 vs 6.8L debate. Firstly, we can fight day in and day out about what is better, the V8 or the V10. That opinion will change from individual to individual... whatever to each his own.
Anyhow for your comparisons of 5.4L engines, do not compare F150 5.4's to F250 and 350 5.4's. The F150 5.4 is tuned differently, geared differently, and a different truck. F150's are EPA rated, therin must achieve a certain avg. mpg. Our superduties are not rated for this, and have lower gearing and different fuel trims. I personally believe my 5.4 ext cab longbed 4x4 feels a million times faster than the quivalent F150 with a 2 valve 5.4. Never driven a 3 valve, so no room to speak there. Both trucks did have same rear axle ratio.
The 5.4l in the 150 and SD in similar years are pretty much identical, tuning included. Either truck responds the same to tuning and require the same parameters to run properly. There may be a couple small variations here or there and in the ecm but thats about it. The 150 doesn't really have to meet mpg requirements it is just rated for mpg. It has to meet emmissions for its GVWR though, which may suck a tiny bit of power, however the power is easily made up in the F-150 having less drivetrain loss. Gearing isn't much different between the two. IMO the F-150 has the edge because it often uses a smaller diameter tire and the truck is not as heavy as a SD so it can pull 3:55s better than a SD can pull 3.73s. I honestly think a 5.4l F-150 would beat a similar 5.4l SD in acceleration.