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no it is NEVER to late to have recalls fixed. The federal government is the one who tells dealers that they WILL fix the problem as long it is brought in.
Safety recalls never expire. Do not confuse safety recalls with "Owner Notification Programs" which have specific limits.
There is a tool on Ford's website that allows you to search for any open recalls by your VIN. Any Ford dealer will also do this. Take advantage of one of these avenues and learn what is still open on your specific vehicle.