Misfires at idle can be dirty injector tips, can of Seafoam in the gas tank can take that off the table, good to do that once a year in any case
Dirty tips DRIP fuel instead of spraying it, so you get a poor mix under low load(short open time for injectors)
Also clean MAF sensor, once a year
CAM sensor/synchro for the 3.0ls was an issue, never have read a reason for it, I would just plan on changing the sensor/synchro out as general maintenance every 80-100k miles
Same as upstream O2 sensors every 100k miles or 12 years, which ever comes first, they run out of chemicals to detect Oxygen and cause a drop on MPG and eventually will set codes, but the drop in MPG is a bigger deal since that's MONEY out of your pocket which could have paid for the new O2s, lol
Ultimately when there are misfires you should start with a compression test FIRST
Cold engine
All spark plugs removed
Press gas pedal to the floor while cranking, this turns off injectors and also gives full air flow
Test each cylinder, get at least 5 or 6 "hits"
write down results
3.0l should be running 160psi compression, but testing parameters vary, so its more about the average number and the difference of that number to the lowest numbers
You can end up chasing your tail with fuel and spark as far as a misfire, so taking compression off the table FIRST is best, because if it is the problem the money and time spent on spark and fuel was wasted