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I didn't see this information in any more current thread so resurrecting this one with a quick update fwiw. Can confirm in the 2025 Explorer ST (or at least in the one i've got) that it is a 21mm socket size (and not 22mm).
Some aftermarket lug nuts may take a different size socket, I know the McGards I have on my ST take a 22 mm, says so right on their website, but the factory lug nuts take a 21mm or a 13/16"