First off, have you confirmed the code is an IDM code P0351?
Secondly, why did you not just reinstall your original unit?
Here we can see the difference:
1994 Ford Truck Bronco Full Size V8-302 5.0L – Ignition System
In the above, 1994 5.0L Bronco diagram, we can see there is no IDM (Ignition Diagnostic Monitor) output from ICM.
1996 Ford Truck Bronco Full Size V8-302 5.0L – Ignition System
In the above, your 1996 5.0L Bronco diagram, we can see the IDM (Ignition Diagnostic Monitor) output from ICM pin 3.
That is the difference between EEC IV (OBD I) and EEC V (OBD II), and is the reason installing the old-style ICM in the newer setup generates the IDM code.
It is very tricky finding the right ICM for your truck. Even the Ford database is incorrect most of the time. The ideal method is to cross reference the number on your original unit.
When I look it up, I find the Ford part number to be 5U2Z-12A297-D, which crosses to
Motorcraft # DY1077. (Note Motorcraft is NOT OE Ford just as AC Delco is NOT OE GM. It is the Ford aftermarket OEM brand, but there is a difference between Ford and Motorcraft parts, just as there are different part numbers, and that is the difference between OE and OEM)
Below is an excerpt from a posting by a moderator at FullSizeBronco.com that seems to have nailed it as well as any other source I've seen:
Remote Mount Gray TFI-IV "Push Start" ICM
Ford Bronco -
Motorcraft - DY1075 (supercedes DY533)
Ford - 5U2Z12A297B (supercedes E8DZ-12A297-A)
Wells - F125
Niehoff - FF411
BWD - CBE33
Standard - LX226
NapaEchlin - TP33
Delphi - DS10053
Transpo - FM533
Remote Mount Black CCD "Computer Controlled Dwell" ICM
Ford Bronco -
Motorcraft - DY1077 (supercedes DY679, DY667, DY645)
Ford - 5U2Z-12A297-D (supercedes F1PZ-12A297-A)
Wells - F139
Niehoff - FF413
BWD - CBE40
Standard - LX-241
NapaEchlin - TP29
Delphi - DS10056
Transpo - FM544
You can find the thread here:
clicky
Again, cross the number from your old unit. It will not be the same as the Ford part number 5U2Z-12A297-D that I cited above because it is not a part number, rather an "engineering" number. (Don't ask - It's a Ford quirk. All the other manufacturers have the actual part number stamped on their original factory parts) But it will cross to valid part numbers in just about any database you use.