I've done it at least once, and the Ranger brakes are/were very similar to the Explorer brakes which I did a lot of.
You need a metal rod to drive out the pins on each caliper. Hit on the metal portion of the pins, not the rubber. Make sure you clean the slide areas on the caliper and lubricate them with Silicone grease. Ordinary grease can attack the rubber core in the pins and make them swell.
The rear brakes, if they're still drum, are another thing. Stupid little 9 inch drums and the springs are tucked in so far behind the bolt flange that you need tentacles instead of fingers to remove and install them. Needle-nose vise grips are the ticket there, and it's still difficult enough to make you cuss.
If you're changing rotors, you will be worrying about the hubs and bearings. Change the bearings if needed and pack them with good grease as usual. It's not nearly as difficult as 4WD.
