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Description could be a burnt exhaust valve.....................but, could also be "bad gas", bad gas means it has too much water in it, this will cause "popping" and low power
All gas has some water in it, but if there is too much then you get what you got, you can add a can of octane boost or HEET, these are ethanol based additives that can BOND with water(gasoline can't), this bonding allows the water to be "burned" instead of fouling the gasoline burn(misfire and popping)
Assuming no "bad gas"
Have a look at the coil pack and spark plug wires, its easy to mis-wire these
And 2000-2002 3.0l coil packs did have cracking issues
Ford uses a waste spark system, this means on a V6 that TWO spark plugs are wired to the same coil in the coil pack, both fire at the same time
These matched PAIRS of spark plugs are 1/5, 2/6, 3/4
So there are only 3 coils in the coil pack wired like this
[3 4]
[2 6]
[1 5]
So 1 2 3 on one side, BUT.........5 6 4 on the other side to match PAIRS, this side often gets mis-wired
On "most" 3.0l coil packs the 4 wire connector is between 3 and 2
Looks like this:
https://www.taurusclub.com/attachments/taurus-sable-coil-firing-order-jpg.66821/
Just to "take it off the table" pull out coil pack and look for cracks, they can be small so look close, if in doubt replace coil pack
And then redo spark plug wires ONE AT A TIME, make sure they are in the correct order and in MATCHED PAIRS
Ford numbers V6 engine's cylinders this way
3 6
2 5
1 4
Front
So #4 spark plug wire goes to the coil with #3, NOT #1
After that if there is still misfires then you will need to pull out all spark plugs and then do a compression test to see if there is a valve issue
It reads like spark system has been gone thru before from your description of the mis-matched spark plugs when you got this Ranger, so this was a "known issue" by previous owner
The 3.0l Vulcan engine is a very reliable engine used by Ford from 1986 to 2008, they can take alot of miles
If there are burnt valves then it was caused by engine running lean from previous issue, or pinging/knocking issue from "bad gas" causing cylinders/exhaust valves to over heat