You posted this in the 2002-2005 section, but your profile says '95. SOHC not available in '95, so unsure what year is in question.
$585 for labor is high for just tensioner replacement.
First step in eliminating chain rattle is to replace the two primary chain tensioners, one in each head. I don't know if or why it might be harder in a 3rd generation Explorer, but in the 2nd generation the one in the right head should take no more than an hour by a competent shop, and maybe two more hours to do the left side.
I just bought both parts online two weeks ago for $87 including shipping.
If the rattle persists, then you are looking at a much bigger project, and labor that does not overlap the work already done. $585 sounds about right for labor to replace just the front (left) timing cassette, jackshaft chain & tensioner. Rear (right) cassette is more, as it requires separating engine from transmission.