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You'll need to remove the oil cap and the 6 bolts holding on the engine cover. The front 3 spark plugs are pretty easy to replace. You'll need to unplug the spark plug wire from the coil and disconnect the electrical connector. Unbolt the 2 10mm bolts holding the coil to the valve cover. Twist the coil and boot back and forth and pull it out of the cylinder head. The spark plug is down in the head, you'll need at least a 6 inch extension with a 5/8" spark plug socket, a telescopic magnet will help get the spark plug out of the head. The back 3 spark plugs involve removing the upper intake and throttle body, unbolt the bracket to the throttle body, and the bracket bolted to the upper intake manifold. on the back side of the engine. Remove the tubing from the throttle body to the air cleaner box. Unbolt anything else bolted to the upper intake. Unplug electrical connectors to the throttle body and any other electrical connectors on the upper intake and remove the upper intake bolts. And move the upper intake out of the way, there are only spark plug wires on the back 3 plugs. Twist and turn each boot to aid in removing the boot from the plug. I would get a new upper intake gasket and consider replacing the wires at this time also. There are actually only 3 spark plug wires, so for what is involved to get to them, I would replace them. I have found alot of the wires will arc to the upper intake manifold.
Oh, how fun, changing the spark plugs on the DOHC Kia. Based on experience, I strongly suggest you get a Chilton/Haynes repair manual for your SUV. It will lead you through the process step by step. I'm a rather short F, so I didn't have much difficulty reaching the spark plugs (you have to remove the center cover first). The spark plugs are rather deep in the valley between the cams/valve covers. Because of this it's easy to cross thread them, so take care to avoid this costly mistake. I don't think I would attempt it on the Sportage unless I had some kind of scaffold to stand on.
The 2006 KIA Sorento is a smaller SUV
with a 3.5-liter V6 engine. This engine uses six spark plugs to run the
engine properly. There will be three spark plugs on each side of the
engine. All six spark plugs will need to be changed at the same time to
ensure that all six are working equally. The spark plugs are in plain
sight on the right and left side of the engine and have rubber wires
connected to the top of each one.
Insert the edge of the spark-plug gapping tool under the meal
arm in the center of the one of the new spark plugs and turn the gapper
until the number .038 is in the center of the metal arm. Repeat this
for all other new spark plugs.
Open the hood of the 2006 KIA
Sorento and remove a rubber wire from one of the spark plugs. Use the
ratchet and spark-plug socket to remove that spark plug from the engine.
Insert the new spark plug into the hole where the old plug
was. Hand-tighten the new spark plug until you are certain it is seated
properly, then tighten it further using the ratchet and spark-plug
socket. Replace the rubber wire to the top of the new spark plug.
Repeat for all other new spark plugs. Once you have replaced
all six spark plugs and replace the rubber wires to the tops of them,
close the hood.
They are under the black plastic cover that is in the middle of your valve cover gasket. Remove the intake hose from the aluminum intake plenum on top of the valve cover and the silencer box against the firewall. Remove all the connectors from the sensors which should be 2 on the plenum and the 2 large vacuum hoses on the plenum. Then remove the 3 12mm bolts from the plenum at the throttle body and remove the plenum. You can reuse the throttle body gasket at the plenum so don't destroy it. All the other bolts are 10mm and use a screwdriver to loosen the clamps on the hose. The sensors have clips that you need to remove with a small screwdriver, then disconnect them. Remove the bolts on the cover and the cover. Then remove the bolts holding the coil packs down. Do one plug at a time. 2 of them are connected to the 2 plug wires and 2 are underneath the 2 coil packs. The connectors on the coil packs are fragile so remove them carefully. Reverse the steps to reinstall the plenum, etc.
Take this car to a shop that has a device to read the car's computer codes. This will probably explain the problem. If this does not, take it to a shop where they have a vacuum gauge and know how to use it.