You should have kept the Borla system. Their entire SYSTEM carries a lifetime warranty. I called Borla back when they were discontinuing the systems for the first gen, and asked about this. Their response was that although they would no longer be producing them for sale, they keep ALL of the manufacturing specs and can make a one-off replacement for a customer with a warranty claim. Either that or they would offer a complete refund to a customer if there was some issue or the customer didn't want the replacement.
The Walker Quiet-Flow 3 mufflers do carry a lifetime replacement warranty. Their other cheaper SoundFX mufflers do not. I'd say the Quiet-Flow is one of the best mufflers and systems in terms of fit and sound, if you don't want ANY drone. The design of the 91-92 Explorer mufflers is such that the Quiet-Flow mufflers actually flow pretty good.
The upgrade to the Quiet-Flow would be a Dynomax Super Turbo 17747. It flows better and would be slightly louder, giving a deep, low growl. There IS some drone at certain speeds, but a resonator would take care of that. Walker used to make the rear pipe for the 91-92 Explorer with the resonator included, but they've apparently discontinued the pipe but offer the resonator by itself, as part number 44206. The product images for the resonator still show the entire rear pipe.
You could also try the Dynomax Super Turbo 17731. This is a shorter muffler, closer to the size of the one in the Borla system, and is an in-store product at Advance Auto Parts (although you should buy online for store pickup and use a $20 off $50 coupon to save some $$$ if you get one). You'd need to use a straight pipe to fill in the extra length compared to the 17747. The reason I offer this suggestion is the shorter muffler might actually reduce the drone, since part of the reason for the drone is how much more the longer muffler flows than the 4.0L needs. There was a post years back where a member put on a 17731 instead of the 17747, and said there was NO drone.
Adding to the list of options, you can also get Dynomax's Ultra-Flo stainless steel mufflers. They don't offer stainless steel pipes, but you can get 403 stainless custom bent at a lot of exhaust shops.
It's worth noting that Dynomax also offers their VT series mufflers that have an internal valve to eliminate drone. The mufflers are stainless and also have a lifetime warranty, so this might be a good route to go if you hate drone and want the flow of a straight-through muffler, but don't want to deal with the hassle and expense of installing a resonator.
The Dynomax mufflers DO rust out, but with the lifetime warranty, I have found it is still worth it, since you just replace the muffler and trade it in for a new one every so often. Even their stainless steel versions will probably blow out like the Borla since they use fiberglass. No muffler lasts forever, manufacturers generally work on the assumption most people will sell their vehicle and get something else long before the muffler wears out and will need a warranty replacement.
As for the Gibson, I had one of those. The first thing I noticed was the fit was terrible. Though I was modifying a 4-door system to fit a 2-door (which was just a matter of shortening the middle pipe), nothing I did would get the rear pipe to fit how it should. The rear pipe was in two pieces, and there was just no position in which it didn't hit the shock or the frame. Their newer systems may have since been redesigned and fit better, but in my experience, I was not impressed. The pipes are also 2.5" instead of 2.25", as is the muffler. The muffler is a round cannister instead of an oval, and is pretty much a giant glasspack. The muffler has internal louvres (which disrupt air flow), and so really isn't that great. I did finally manage to bungle it on good enough to take it for a test spin, and the sound was "ratty". There was not only a constant, low, drone, but the ratty cackle on acceleration and deceleration that comes with big pipes. Between the poor fit, large size, and the undesireable sound, I removed it and sold it, replacing it with a Walker system until I switched to the Dynomax.
Note I am using the Dynomax 17747 with the 91-92 style front pipe and 93-94 style rear pipe (no resonator) on mine. Dynomax does make a custom style muffler for the 93-94 Explorer (#17697) with a 2-inch inlet and 2.25 inch outlet, that seems to have less drone than the 17747. The difference between the 91-92 and 93-94 mufflers/pipes is the muffler bracket, on the 91-92 there is a 2-hanger bracket welded on the rear pipe, on the 93-94 there is just a single hanger, which Walker/Dynomax welds on the muffler itself at an angle. The 91-92 style is better for gound clearance and going off-road, since the muffler sits horizontal.
You might also try asking at Advance if they carry a rear pipe from their other exhaust brand, ROL. Their rear pipe for the 91-92 might have a resonator already installed. Midas might make one as well. Just keep in mind both these pipes might be thin and/or crush bent, so not really something that will last.