Outside of the regular oil change and air filter change I would change the spark plug wires if they are original, and spark plugs, use motorcraft spark plugs, the rangers eat other brands.
Also Coolant needs to be changed every 2 years regardless of miles driven, the anti-corrosive chemicals breakdown over time not miles so best to drain-flush and add new coolant every 2 years.
The 4.0ls are not great on gas mileage, but I would test what MPG you are getting now and then go from there as to what sensors might need "cleaning" to improve it.
A new fuel filter is $10 and a good thing to change every now and then, especially if a car/truck has been sitting.
Seaform fuel/injector treatment is good to run once a year in the tank, if you use name brand gas it usually has the same additive but some don't, have a look next time you fill up.
Check vacuum lines for signs of hardening and cracking, just feel them, they should be soft and "rubbery", replace any that are getting hard, usually at the ends near the engine where they get hot.