melody, i had an '05 escape and under the back seat which flipped up was an access panel to the fuel tank...meaning the gas tank does not need to be removed to access the fuel pump...
that being said, do u have a written estimate? would like to know what they are charging you for the pump and what they are charging you specifically for labor...
u say they called ford, ok you call ford, ask for a price for a fuel pump for a 2002 ford explorer and get a price...then ask what they would charge to replace it...
now, if they are lower than the guy, then its a no brainer here...ford would give you an iron clad warranty on parts and labor.
if its higher but they tell u the pump is say $300, then u know the guy is charging you $300 for labor...
for the $25 price of a chilton manual for your specific vehicle and a person who has basic knowledge of repairs, this is a relatively easy replacement for this pump...
after you get all the info i have given you, its then up to you to make the decision on what to do...but mind you, not knowing where you live right now...the economy is bad everywhere, and like any surgical procedure, i'd be calling around getting quotes to repair this vehicle from all qualified mechanics as everyone today is 'hungry'.
good luck and GOD bless.