ExST Gen1 V6~4.0L~SOHC; which year 2001~2005?
Suspect MAFSensor, TPSensor, IACValve, DPFESensor, EGRValve\Controller,... maybe a vacuum leak.
I'd give all above a good cleaning
& inspect all vacuum hoses+fittings for cracks\leaks.
Do one thing at a time, then test drive 'til you've found cause.
Do you have a CheckEngineLit? Have you scanned for OBD2 TroubleCodes?
How old are Plugs+Wires+CoilPack?
Could also be a failing FuelPump. How old is FuelFilter?
Any other recent maintenance work or part changes?