Work on reliability maintenance items first to make sure you have a solid platform for any performance improvements.
Do a full fluid flush - power steering, brakes (DOT 4), coolant, transmission, and differentials.
If you're not sure when the timing belt was replaced, then get a full kit that includes the timing belt, accessory belt, tensioner, coolant, water pump, and valve cover gaskets.
Look into getting a fresh set of ignition coils and spark plugs.
Check all vacuum lines and check valves for any signs of wear/cracks/etc.
Check front control arms (upper and lower) for excess play. The bushings tend to go bad, get chewed up, and will cause uneven tire wear and sloppy steering.
Check CV boot for any signs of cracks and grease seeping onto the brakes/wheels. If you hear any chirping noises when going over bumps, it may be the CV joints that need replacing.
If you don't have the full history of the car, also look into getting a new air filter and charcoal cabin filter to complete the overall tune up.
Once you've checked these items, then you can look into doing compression testing if you intend to do anything with the engine for more power. There's not a lot of options off the shelf for the 3.0. There is a supercharger kit out there, but many have had issues with it (blowing up the engine). All other tweaks will yield very mild gains (5-10hp).
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