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Yes it can... I have a 5R55E from a 99 4.0 SOHC explorer in my 96 ranger with an 4.0L OHV engine, the only thing you have to do is remove the shift module from your old trans and transplant it to your new trans, it is located right where you shifter cable goes
SVT
I'm running my factory 96 ECU and still have all 5 gears operating in my shifting...
SVT