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Yes, fuel filter should be changed every 5 years, but not your problem, dirty/clogged filter causes issues at highway speeds, not enough gasoline can get thru when demand is high so engine "runs out of gas", but it would idle fine, low demand for fuel.
You need to clean MAF sensor once a year, just a spray cleaner, easy to do
Dirty MAF causes bogging.
IAC Valve should be cleaned every few years
Read here:
http://www.explorerforum.com/forums/index.php?threads/how-to-iac-valve-cleaning-thread-w-pics.84220/
IAC Valve sets idle RPMs, it is an air valve controlled by the computer.
If it gets dirty it can stick and/or not let enough air in to get a high enough Cold Idle
All fuel injected engines should REV high on startup
So don't touch gas pedal and start engine, warm or cold you should get momentary REV up then a drop to "target" idle, that's the IAC Valve working, it opens all the way for starting(high RPM) then closes to set "target" RPM.
ECT(engine coolant temp) sensor
All gas engines need to be "choked" on cold starts, rich fuel mix, advanced spark and high idle, is choked engine
Computer uses ECT sensor temp to decide when to "choke" the engine, so if problem you are having is cold starts then you may want to change ECT sensor
They can be tested with ohm meter but for the $8-$12 most just replace on speculation, up to you and your wallet.
ECT sensor has a Grey/red stripe wire
There is a similar looking ECT SENDER used for dash board temp gauge, red/white stripe wire, don't change it by mistake
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