Engine?
There are a few things that will allow a perfectly good engine to idle well, but not drive well. It's very likely that your problem is something simple yet elusive.
It is good if we know which engine you have because typical problems will help. Here's a few you can check without much trouble.
1) Cracks in the coil. Remove the coil and inspect it thoroughly under a strong light. If you ever bought lifetime plug wires for it- then go get a new set for kicks.
2) Damage to the coil plug-in connector. Pull on the individual wires to see if any are loose. If you find damage, a pig-tail connector is available from Ford.
3) Air intake leaks. Make sure that your air intake is properly installed, the couplings are tight, and the rubber parts are not cracked or damaged allowing air in. Remove the MAF and inspect the seal around the MAF. Clean the MAF with spray MAF cleaner, and re-install. Allow sufficient time for it to dry before starting.
4) EGR a stuck open EGR can cause problems after the engine warms up. I've never heard of it stalling out a vehicle like yours is doing, but it might be part of the problem if your problem is multiple problems. Remove the EGR, use a vacuum line to lightly suck on the EGR and make sure it opens and closes. It takes as much breath as it takes to fill one cheek as it does to actuate the EGR. Clean as much as you can. Make sure it's still working, and then re-install. There should be gaskets available for about $2, but I don't think Ford uses a gasket from the factory.
When the car is idling, do you get a check engine light (CEL)? If so, do you have a code scanner so you can tell us what code it is?