Do you have a tachometer? Find out what your rpms are when you are shifting...the throttle may be sticking or idle set too high...a 97 3.0 probably does not have any idle adjustments but the timing may be advanced or you have a vacuum leak...
So...if you know what rpms you are shifting at (lowest point when you put the clutch in)...could be a number of things but sounds like shifting too high.
I would start with both motor and transmission mounts, just on principle. Even if worn mounts aren't the main cause of the problem, they're probably needed after 17 years.
redneck way of testing mounts, set the parking brake tight, try to let the clutch out in first and then reverse. When you put the clutch back in you'll feel the engine or tranny thump back down after it raises up if they're bad.
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