They both should be a BW1354. And the front yoke is removable on the explorer but the flange one on the 2002 is not as easy. You will have to take the whole case apart to remove it. As of now there isn't a cheap or easy way to convert an electric shift to a manual shift. There is a kit from Shiftster that makes it a manual, but it is a knob that bolts to where the electric motor was, so to shift it to 4hi or 4lo you would have to crawl underneath to do so.
You can look for a manual shift 1354 but they are rare and if you do find one it will cost you $$$$.
The shift motor should mount the same way on all the BW1354/1350's.
Hope this helps.
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