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It is possible, but not easy. Both transmissions bolt right up to the 4.0L Cologne 60 degree V-6, and are virtually identical in size. The A4LD is a hydraulically-controlled transmission (mostly), and the 5R55E is fully electronic. So you need to get the controls for the 5R55E in there somehow. Some have swapped computers from the 5R55E truck, but there are some sensors in the rest of the truck that are different, so you will get some PCM errors. Some have created hybrid harnesses, and used both computers to control things. There are also aftermarket controllers ($$$). Google and read the Ranger and Explorer forums.

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Q: Can you swap an A4ld transmission with a 5r55e?
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