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What exactly do you mean by hard start? Does the engine just crank and crank and crank for a few seconds before starting when you turn the key? Will it not just start up on the first try and takes a few attempts before it will start?
Sometimes cleaning the battery terminals if the battery isn't too old but has corrosion, if the battery is old or getting weak a new battery will often fix the issue, other times it's not the battery but the battery cables themselves that are corroded internally and just not getting a good ground or connection to the starter. Could also just be something like a fuel filter that isn't clogged up enough to prevent running ok but blocks enough fuel from getting to the engine at startup when the fuel pump first primes the system.
Are you sure you're waiting until AFTER the fuel pump primes before starting? Some people turn the key without waiting for the fuel pump then wonder why it fails to start immediately. On the Explorer, you need to wait a second or two after turning the key for the fuel pump to come on (the whirring noise), prime the sytem for a second, THEN you turn the key to start it. Turning the key before the system is primed can cause the engine to not start because it didn't get a chance to get any fuel.
Specify the exact symptoms you notice for the hard starting and you might get a few members who have had the exact same issue and the fix.