If it were mine, I would use G-05 or John Deere CoolgardII which are compatible and can be mixed without issue.
Ford switched many of their engines over to this from regular green around 2001/2002 without making changes to the cooling system. It's safe for all the materials in your truck's cooling system.
2002 Ford Ranger XLT
3.0 V6 / 5-Speed Automatic / 2WD