I had a 'whump whump whump' noise the first year I owned my 1994 XLT. Ford said it was the Firestone tires, Firestone said it was the Ford suspension. I kept taking it back to both Ford and Firestone and Ford did everything they could -- heavy-duty motor mounts, anti-vibration kit, etc., all under warranty. Firestone would check the tires and tell me they were good and put the blame on Ford. Finally, it got so bad I took the Explorer to Discount Tire and bought four new Michelins as I'd heard they worked well on SUVs. The tire manager called me to the back of the tire shop and showed me where all four -- that's ALL FOUR Firestone tires had slipped belts. Yes, it was 'those' Firestone tires -- the ones they eventually recalled because they were causing rollovers and killing people. The only reason mine didn't fail catastrophically was because I lived in the high desert and ran the tires at 32 psi, not the then-recommended 26 psi. Kudos to Ford for trying. I will never own a Firestone product again. The Michelins run smoothly with a comfortable ride. I just installed my fourth set at 196K.
So check your tires for slipped belts. Most tire shops can do it.