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That's not true. There was a single harness used for the 2001 (and other year) models. You can use that Pioneer CD-6 head unit, as I had a 2002 Explorer Sport Trac and my 2001 F150 Supercrew and the units were interchangeable (one had the Pioneer CD-6 and the other the FM/AM/cassette). You may consider just adding a CD changer to the current head unit though. Those units have CD changer control as long as you have a CD button on the unit. It would be a more involved installation, because you would need to get the harness as well, but it's another option.
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