ECT sensor would be most like sensor to cause the symptoms, IAT(intake air temp) doesn't change things enough to cause rough idle, slightly lower MPG and slightly higher emission would fit though.
ECT sensor is on the drivers side of the block, toward the front, below the intake, best seen from drivers side wheel well.
It is a two wire sensor, the computer uses this sensor to set open loop or choke mode, if this sensor shows engine is cold.
As ECT sensor warms up idle should drop and computer will lean out the fuel for best MPG.
If idle is high when first starting cold engine and then slowly drops to normal idle, 700-800rpm, when warm, ECT is working.
If idle isn't dropping then ECT sensor may not be changing enough, or at all, but that should cause check engine light to come on, code 21
IAT sensor is usually found on the Air Cleaner housing on earlier Rangers, two wire sensor.
The 55 code is low voltage at computer, never seen that one before, on my EEC-IV computer diagram pin 5 is not used, so not sure what that codes is all about