The frames are the same from 1994 to 2002. They changed to rear disc brakes sometime around 2001. While the front ends changed a little bit I think that was mostly related to the brakes. The springs were the same as far as I can tell. I do not think your 02 would ride any differently than a 1995 would. There would be a few pounds of difference but not any suspension changes that should affect handling characteristics in a real way.
My truck is a dually. It rides a bit stiff. Driving over speed bumps with much speed can be an UPlifting experience. Honestly, the ride is not that bad. I actually like the ride in comparison to my grand marquis. It is a bit stiffer since I replaced 116k mile shocks with new KYB ones. Probably because the original shocks were badly worn.
I never felt myself cringe when I hit a pothole except when I was thinking about my expensive alignment. I thought it would ride a lot stiffer than it does.
If you keep the air pressure down in the tires, your ride is a lot better. I typically tow so I keep my rear tires at 70 psi, but now that work is slow and I don't tow as often, I lowered the rear tire pressures to 50 psi and it rides a lot better over RR tracks and bumps.
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