I've got an 02 Sport Trac as well, was having this issue on cold mornings/nights about 2 years ago. Got worse and worse, and I got tired of paying a shop to try to figure it out. I could hear the fuel pump running, but it would take 2+ minutes to get it started and the battery would run down trying to get it to start.
It's been parked for most of the last 2 years, but I would start it monthly and let it idle for 30 minutes or so, and changed the oil last year.
Last time I got it to start was January 2020, and since then it just turns over but never catches.
MAF sensor was replaced by the shop 2 years ago, they said it was throwing a code for that. No codes now since battery completely died.
Today I cleaned the throttle body (it was pretty nasty) in the hopes maybe it wasn't getting enough air. Still no luck, just cranks endlessly and never "catches"
Tried spraying some starter fluid in the intake, and it actually started.... for 3 seconds. Then the same old crap!
I'm open to any suggestions, but don't want to spend more than $100 or $200 at most, since registration is expired 2 years (in CA that means about $1,000 or more in back fees.
If I can't figure out how to get it running by the end of the month, it's getting scrapped (sucks, I really liked this truck!)