Re: 2000 F-150
The #2 cylinder is on the passenger side, second one back. Ford cylinders are like this........
I would remove the connector to the coil and remove the coil with a 7mm socket and sometimes unplugging the injector helps you get room.. Pull the spark plug and inspect it. Is it due for a tune-up? Then do all of them.
If it is still missing, then the coil could also be bad. Swap the #2 coil with another cylinder and see if the miss changes to that cylinder.