My 2002 Ford stalls upon take off after car warms

The most common reason for engine stall is a dirty throttle body or a faulty idle air control valve.
The computer controls idle speed by how much air enters the intake.

http://ricksfreeautorepairadvice.com/what-causes-car-stalling

The most common reasons for stalling is a faulty throttle position sensor or low fuel pressure.

you problaby have a missfire, you need to check it out soon or it will have some damage on your catalyctic converter

The idling setting in the car is not set correctly or the idling is LOW due to fault in the setting.
You will need to check if the throttle position is correct and the idle setting WITH THE CLUTCH PRESSED must be of the CORRECT IDLING RPM. If not reset the position after cleaning the system.

There is an idle control valve in the air intake circuit that gets dirty. Ford says not to clean this valve but to replace it. However cleaning seems to work for me.

Sounds liek it could be a loose ground, the finding of which involves chasing wires in the engine compartment.

You most likely have a big vacuum leak. PCV hose split or a bad Idle Air Control motor (IAC)

check for vacume leaks most common problem for symptoms listed its hoses on engine look for dryrot cracked, or broken hoses or lose come off

check the fuel pressure,replace the fuel pump-its in the tank