1994 3.0l still used a distributor and TFI ignition system.
When did you do the last tune up?
Distributor cap, rotor and spark plugs, and spark plug wires if funds permit.
These parts wear out and you notice it first at idle.
If you change the spark plugs keep track of where each old one came from, spark plug tip can tell you alot about how the engine has been running.
Very Light brown is good, dark brown or blackish is rich burn, maybe some oil, black is way rich and could be oil.
Also worth while putting a can of Seafoam(or other injector cleaner) into the gas tank once a year.
Dirty tips on the injectors can cause rough idle, because they drip fuel vs spraying it.
O2 sensors are good for 100k miles, after that the engine will tend to run rich(see spark plugs) at that time it is worth while changing the O2 sensors, they will pay for themselves in fuel savings over the next 100k
Once engine is warmed up and idling unplug the IAC(idle air control) valve, idle should drop down to 500rpm or engine may even stall, either is good, it means no vacuum leak.
If idle doesn't drop down then you have a vacuum leak that is causing to rough idle.