Be cautious about the alignment of the OEM pinch clamps - - the ends are like knife blades. I had one slice into the small elbow hose and cause a leak. Best to replace with screw-type ring clamps.
For about $20 you can put a stitched leather cover over it. Not hard. I put one on my 2001 about 10 years ago. It still looks good...It's about due for a replacement.
https://www.amazon.com/DEEYOTA-Steering-Universal-Stitch-Leather/dp/B0BTCTMS49/?th=1
My 2001 has 288,000+ miles on it. Sounds like the engine may be worth pulling too. Alabama doesn't have inspections. You could sell it here or another free state.... Vehicle inspection in the United States - Wikipedia
I had a 2005 Freestar (as well as my 2001 Sport Trac). Good vehicle. Most likely, it's the BCM (Body Control Module) under the dash. Could be loose/corroded connector. I had to replace my BCM due to blown transister for right turn signal. The new (to me) BCM had a loose fitting connector...