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The 2000 4-cyl (KA24DE) is essentially the same engine, except for the dual-overhead cam 16v, whereas the '96 is the SOHC 12v (KA24E). Other than that, there's hardly a difference.
If I remember correctly, the 24E makes 136hp, and the 24DE makes 145hp or somewhere close. Just a bit more power, but I honestly can't feel the difference. I've compared my '97 which has the SOHC to my brother-in-law's 2000 Frontier, both 5-speeds, and they don't perform any different.
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I often tell people that I hate Fords with a passion... and I do. But honestly, I don't have a problem with them - they allow me to pay the bills, and keep myself fed!
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