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Sounds likes trans problem common to the Explorer, try changing the transmission fluid (mercon V) and add an anti-shudder additive. Does it happen mostly between 45-60 mph?
Since the transmission shifting and torque converter lock (cruise speeds) up are computer controlled you need to have a scanner hooked up that can read Transmission control module (TCM) fault codes. Also check for engine codes as this could be a misfire, but in that case the check engine light should be flashing while the engine is misfiring and set a fault code. If no codes of any kind are present in memory when the testing is done you almost certainly have a mechanical fault in the transmission like a malfunctioning torque converter clutch, but even that should set a fault code, so have the testing done.
That is the speed when it would normally shift into overdrive or the torque converter would go into lockup. It is also when the engine would be working hard and a slight miss could be magnified. You may want to have a transmission shop test drive it for their opinion.
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