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What causes it to miss at driving speed but, not at idle?
Defective coil pack or plug wires most likely. Yes the coli pack can cause a misfire and still run the engine! Scanner can test cylinder contribution to find the misfiring cylinder(s).
Q&A > Ford > 2001 Ford F-150
Q&A > Ford > 1994 Ford F-150
Q&A > Ford > 1997 Ford F-150
Q&A > Ford > 1999 Ford F-150
Q&A > Ford > 2005 Ford F-150