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The 2005 Ford Explorer uses 75-140 rear differential fluid. To change the fluid, locate the rear axle panel. If you only need to top it up, there's an intake port for easy pouring. Fill it to the full line, close the port, and you're done. However, if you need a full change, you will have to remove the cover plate. Be prepared for the fluid to flow out, so have a container ready beneath the plate. Once drained, replace the plate and refill the oil as described earlier.
You have the option to purchase this liquid in 32-ounce containers, typically priced between 5 and 6 dollars in most retail outlets.