I’ve actually been dealing with this for going on 4 years now but thinking of taking a long road trip so a bit more concerned since recently the truck shut down and wouldn’t restart for about 10 minuets. Truck idles rough and throws a misfire code for cylinders 3 & I believe 6. Ive changed about everything I can get to no improvement. Truck starts right up no hesitation so I’ve ruled out crank and camshaft position sensors. It’s a 02 with the 3.0 liter flex fuel with 166 K on it. I’ve read they’re notorious for having the camshaft position sensor go bad. But again no starting issues. Truck has had 7 owners so I’m going to assume it’s probably been changed but I’m of course not sure. Idle smooths out over 1,500 rpms. But seems like the longer it’s driven the rougher it idles.