Best bet it to find something off the shelf that works and then make your own stubs to go to the frame. Sounds like you cant weld so maybe get the pieces and bring it to a welder.
The layout of the Excursions underbody makes fitting custom or customized rock sliders fairly strait forward. When I did it 13 or so years ago it was all 90 degree cuts and and simple measurements. If you do not feel up to it a good fabricator would be able to do it for you.
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