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Ford Explorer Community - Maintenance - Modifications - Performance Upgrades - Problem Solving - Off-Road - Street
Explorer Forum Covers the Explorer ST, Explorer Sport, Explorer Sport Trac, Lincoln Aviator, Mercury Mountaineer, Mazda Navajo, Ford Ranger, Mazda Pickups, and the Ford Aerostar
I suggest that you read the following thread to get an idea of what is involved to time your camshafts: SOHC V6 Camshaft Timing
The camshafts can be timed without the special tool set (I and other members have done it) but there is more risk involved if you don't use them. Even with the tool set some members have timed their engines incorrectly and damaged them upon restart.
As stated in the first post of the thread I referred you to, yes, unfortunately, you must remove either the engine or transmission to replace the rear timing chain or rear guide assembly since some of the related components are behind the flexplate/flywheel.