It is 'pinging' or pre ignition.
The 3.0L have a bad habit of carboning up the combustion chambers easily leading to 'hot spots' in the cylinder heads. When the engine is lugged down like that it will cause that rattling/knocking sound you are hearing.
Running some good combustion chamber cleaner through the engine via a vacuum line and driving it like you stole it can usually help to clear it up. If it is bad enough, the only way to get rid of it is to pull the heads and scrape all of the carbon deposits off of the heads.
Best thing to keep this from happening is to rev the piss out of it. It will be quite happy to spin 2500-3000 rpm all day long. Don't drive in town in 4th, keep it in 3rd to keep the revs up. I shift mine at 3000rpm, leave it in 3rd in town and don't use overdrive a lot on the highways.