Your owner's manual should list specifications for the oil. (GL-5 etc.)

Look at the label on the bottle and make sure it meets those specs.

As long as it satisfies Fords specification for grade and weight, it doesn't matter what name is on the container.

It does matter, but not that much.  The Walmart brand should be fine.  The important thing is not the brand, but that you change it at the recommended intervals.  (When I say that it does matter, what I mean is that the Mobil 1 brand may last longer, but that only matters if you are trying to go beyond the recommended intervals.  As long as you stay on top of maintenance schedule, don’t sweat it.)

Lubricant Motorcraft SAE 75W140 Synthetic Rear Axle Lubricant
Application
4x4 vehicles
F-150
Capacity
1.8-2.0L (3.5-3.7 pints)
2.6-2.7L (5.5-5.8 pints)

here is what the Manuel says.