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The rear diffs should be the same if they've got the same engines......and come to think of it......if they've got the same engines and trannies.....which is a possibilty if it came with a 2v 4.6 4 spd tranny.....they might be the same.....
Rear diffs are different; 10.25" in the 2006 vs. 9.75" in the 2010.
Trans are different; 4 spd. in the 2006 vs. 6 spd in the 2010.
Engines are the same: 5.4l. No other engine available in 163" WB.
I should have mentioned that I have a 4x4. So I don't know if the trans would affect anything since they both (4 spd & 6 spd) would feed into a transfer case.