Not directly. The shafts themselves are compatible in some cases, but the power and manual gear boxes use different splined input shaft sizes.
Stock manual is 3/4" x 36, while power is 13/16" x 36 spline.
Check out the info at the beginning of this page:
http://www.wildhorses4x4.com/category/Bronco_Steering_Shafts
Be aware too that some power steering kit boxes have different input sizes altogether from the other two.
You can see that you'd need both halves of the shaft and other stuff.
You would also want a later shaft with the slip design for safety if you're going to go to the trouble.
Different vehicles too, but the upper shaft (the part inside the column) would likely be different. One way to adapt the upper stock one to the new lower would be with a different yoke/joint with either a 3/4" x 36 spline upper interface (if your column had that) or, for your earlier manual one, a 3/4" DD and modify your existing one-piece shaft.
Better check the transfer case shifter location! You might be in 4wd and that's a no-no on the pavement in most cases.
If you make sure the hubs are unlocked (and unlocking of course) the t-case position should not matter. But if you're in 4wd and the hubs are locked, you might be trying to turn two different sized gear sets. Even from the factory there were very slight mismatches (4.11 vs 4.10 for instance) that would bind up on the street.
Whining is not a good sign, so stop driving until you determine the source. However, in 4wd you do get a lot of gear noise from the straight-cut t-case gears. So that might also be a good indicator of you being in 4wd.
Paul