MS-DOS (FAT) in disk util is FAT32. No, windows machine needed. I did my USB drives from Mac.
https://www.admfactory.com/how-to-format-usb-flash-drive-to-fat32-in-mac-os/amp/
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Correct, but ExFAT should work fine. That is actually what the Ford instructions say to use for Updates. So either way should be fine.
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