First of all:
Regarding Oxygen sensors, Bosch has a world market volume of about 98%!!!
I am 99 % sure that the Motorcraft ones are made by Bosch.
Second:
When I changed mine after 100K miles, I went with the Bosch ones.
4 Sensors $50 difference saved me $200... which can be spent somewhere else.
After changing them, I really felt a great improvement in driveability and it also improved my gas mileage.
Don't be affraid just because they look diffrent, the signal going to the ECU is exactly the same.
The geometry of the openings with three long slots (Bosch) is a lot better than the tiny holes of the ford design. those slots do some kind of a swirl and therefore the reaction time of the Bosch ones "should" be even faster.
ONE THING:
Do not only replace only one Oxqgen Sensor, change them all. This should be done becouse they change the value of the signal over time - not by much, but yes they do. Having different values on the left or right side (also down stream and up stream) might confuse the ECU. (-> and there goes the check engine light again)
Hope this info helps you to make a decission.