You could use a Vulcan 3.0l engine from a 1991 Ranger if you want.
You just need to keep track of the year because when you need a seal or part the year can matter.
Yes, 3.0l Vulcan engine from a 2000 Ranger/Mazda B3000 will work fine, but make sure you make a label or something to put on engine bay noting the year of the engine, for your own memory or the next owner.
You almost always have to change upper intakes because they move sensors around, but you may not, if wires reach then all is good
2WD and 4WD vehicles often have different oil pans for clearance reasons
And if you have an automatic and 2000 is a manual then you need to put your Flexplate on the 2000 engine