The most common failure points in a Bronco's clutch linkage are the pedal-to-frame rod (the one that runs through the floor) and the release fork pivot bracket (inside the bell housing).
But those are not the only possibilities as has been said. Any of the 8 or more parts in the linkage interface could have failed. A frame mount bracket for the "Z-bar" or the engine side bracket, or the z-bar itself, or the release bearing (throwout), fork pivot, or even the clutch cover itself. Lots of stuff there to go bad.
So to start with, physically check the linkage from top to bottom to see what's doing what and what isn't. Don't pull the transmission until you've at least checked that stuff.
Was the 351 out of a newer vehicle by any chance? If so it would not have come with the mounting hole for the engine-side bracket of the clutch linkage. The installer may have just bolted things up and left that un-retained, or used one of these style brackets:
https://www.wildhorses4x4.com/product/EFI_Clutch_Equalizer_Conversion_Bracket/Early_Bronco_Clutch to make it work. That bracket might have come loose or broken.
Here are other affiliated parts:
https://www.wildhorses4x4.com/category/Early_Bronco_Clutch including new beefier rods and bushings and cantilever/Z-bar parts and such.
Last on the page, part #8248 is the clutch fork pivot that often breaks. I've personally broken two of them, and replaced several more for others over the years. Also broke my stock clutch pedal rod and had to drive to work doing what you did. Start in gear, shift without a clutch, turn the key off at lights, use starter to get rolling. All fun stuff for a normal day at work in a Bronco!
Good luck. Hopefully it's the external linkage and not something inside.
Paul