I have been debating the headers for around 8 years ..... just google Broken exhaust manifold bolts in a Ford .... for a little negative incentive.
The only way I would do it ..... is with the motor out.
Now maybe if your Bronco is from Arizona and only saw rain 3 times a year .... you might be fine ..... but it is a 50/50 chance they will break (that is for each one). I'm not a fan of those odds.
With the motor out and super easy access to each bolt for a good amount of heat ( and constant evenly applied torque).... your odds improve to 80/20.
Once you break one ... you're probably going to pull the motor anyway.
The bang for your buck ... is not worth it ... unless you have a crack, and they are leaking.
just go get some quotes for a shop ... and you will see. Should be a simple job ... only a few bolts to remove ... but I bet you they will quote you close to 1,000 just for the fact that some bolts will probably break.
I have a 1993 Bronco XLT with a 5.8 and a automatic E4OD ..... and a 1996 with a 5.0 and a manual tranny.
I absolutely LOVE the stick .... got over 200,000 miles on her without any issues whatsoever.
The 1993 sits in my driveway and laughs at me .... because the E4OD went out at 160,000 ...... and I'm not ready to drop 2,500 on a new one.