The transmission is the Aisin Warner AW4 - also used on Suzuki Vitaras (with 4 speed automatic) & Grand Vitaras, full size Pajeros, numerous Jeeps & Toyotas.
I am unwilling to make a statement on interchangeability, but it is my suspicion that they will interchange.
Auto
Fordem may be able to confirm BUT from memory alone / workshop manual:
(page 783, 23-2 Auto Transmission)
2002 5dr Pajero IO QA 2.0L Auto - Lifted, Locked!! 1.925 Low Range - Muddies (205/80/16) - Redback Extractors to 200cell cat to dump at diff Exhaust