In 2002 there is the Vacuum reservoir, a "black ball" located in front of front passenger wheel down low, usually see it from underneath
Location seen here with fender removed:
https://www.explorerforum.com/forums/attachments/vacuum-globe-jpg.39621/
Thats just so you know where to look, don't have to remove fender to access it, lol
It has 2 black plastic vacuum lines connected
One runs to the engine, vacuum source
The other line is often the problem, it runs along the frame rail to the firewall, it is often cracked or melted by exhaust heat
You can just use rubber hose of correct diameter to splice the broken section
Its a VACUUM line so no clamps needed it sucks together doesn't push apart
The black line runs thru the firewall under the glove box area, picture here inside the cab:
There are 2 lines, one is white it changes to Grey in Rangers engine bay and runs to the heater bypass valve
The black hose is the main vacuum from reservoir and runs to the Climate control panel
Also check the black line that runs to the engine from vacuum reservoir, less likely the issue but certainly can be unhooked or broken
If reservoir is cracked the usual symptom would be Panel vents work at idle, but when you accelerate it switches to Defrost