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OEM mustang "shorties" fit real nice. I put a set from an 86 on a pickup, I think they were on all of the 80's and early 90's 5.0's. The aftermarket ones for putting a 351W into a fox body pull in even tighter. You will need to modify the pipes since these didn't use donuts but a flange instead.
These arent mine, I just found the pic on the web so you would see what I was talking about.
Don't know the differences in the Ford pickup 4X4, and the Bronco 4X4 frame configuration. Have seen headers listed for 66-78 Bronco 4X4 with the 302, but don't recall seeing many, if any, for the 66-78 Ford 4X4 pickup with the 302. May come down to either SJ Bikesaws suggestion by going with shorties, or a made to fit set, Sanderson Headers will make them up. Suggest researching, imagine there are other FTE members with that particular application who can advise. See where it could get a little sorted if you should decide to go with the P/S, and front disc. brake upgrade.
If you want full length headers then good luck. You will have to use shorties for several reasons. The only full length tuned headers I ever saw for F-trucks were for 2wd/auto's. In the older manual trucks the clutch pivot interfered, and in 4wd's the transfer case is in the way. I have dueled four F series 4x4's including the one I drive every day. All of them had to use shorties and all had the dual exhaust ran down the passenger side. These were on a 79, my brothers 86, my old 87, and the 93 daily driver I have now. I have a friend that pulled it off on a 78 Bronco, but he had to make some really sharp funky bends to clear the T case by going over the top between the frame and body. Just by looking at it, I think performance was severely hurt and it wasn't worth the trouble.
You can dual them all the way back on the 2wd's but unless you are running an auto, you will not get the full length headers in. Been there with a 66 352/4spd, ended up selling the long dumps to a friend with a 70's 390/auto.
well ive tried some full length ones we had around the shop, but they came out right in the middle of the front driveshaft. then i tried to put on a set of stock 87-93 mustang headers (shorties) but they came right out in the middle of the 4 wheel drive pivot thing. id like to have some full length ones, but i cant find them. i was thinking about a set of tight-tuck headers from summit for a 302, or a set of 76 full length headers. they should all be the same, right?