I replaced the one in my 02 Ranger with a cloth covered unit from an Explorer, it will be tougher to keep clean, but is a lot more friendly to the elbow.
The early Explorer armrests were made a little different than the vinyl covered I see in Rangers, (haven't seen the ones in the newer Explorer, but assume they are the same as the Ranger) there is not the piece of plastic on the bottom and the base section is a different style, so if you get one from an Explorer, you need to get both pieces.
My original wouldn't hold up my 150# granddaughters butt, this one probably won't either, but she doesn't ride in my truck anymore either.
Ray
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