3 possible causes:
Heat control valve on heater hose is not opening all the way.
Heater Core is partially blocked so has poor flow.
Engine itself is not warming up.
Engine is easy to check........look at the temp gauge, is it above 1/4 and just below 1/2, that is usually about 200degF and the correct operating temp for Ford with 192degF thermostat.
Next time engine is warmed up set heat to HOT and fan on high, then open the hood and feel the two Heater Hoses at the firewall.
One will be warmer than the other, the warmer one is the IN hose, the other is the OUT hose, remember which is which, or mark them.
Let engine cool off now.
Heat control valve, if you have one, will be on one of the heater hoses in engine compartment.
It will either have a cable attached that goes to COLD/HOT dial/slider in cab or it will have a Vacuum hose going into cab.
Drain a little coolant and separate the heater hose at the valve, operate the valve manually and make sure it is opening and closing as it should.
The valve fin can come loose and not open as it should.
Heater cores are just like a smaller version of a radiator, so they have large tubes where the "water" comes in and then goes out, in between are smaller tubes, these can get clogged over time.
First thing to do is to Back Flush.
Google: Back flush heater core
Lots of videos of how to do this, model of vehicle isn't important they all work the same way.
You are going to remove heater hoses at the engine or valve end.
Point the IN hose down at the ground
Put a garden hose on the OUT hose
Turn on the garden hose with low pressure at first
What you are doing is trying to push out any larger debris that may be blocking the smaller tubes, so you have to "reverse the normal flow", you are Back Flushing
You can increase pressure as you see fit.
If flow is still not very good get some CLR and mix it with warm/hot water.
Blow out water in the core, just using your mouth is fine
Pour CLR/water mix in the core
Let it sit for 20min.
Then Back flush again
Repeat the CLR/water mix as you see fit.
New heater cores are not expensive but they can be hard to remove and install on some model vehicles.
I haven't done an '84 Bronco II so can't say.
On my '94 Ranger the core was $28 and took only 20min to change.