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It sounds like you need some basic tune up maintenance. My first thoughts upon seeing the car included some tail work, belly pan, and wheel covers. Some thinner oil might help if it is ok to use it. Have you looked into water injection?
I'm no diesel expert, but some ecu tuning might help too.
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1991 F-250:
4.9L, Mazda 5 speed, 4.10 10.25" rear
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