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They are on the back side of the engine, by the firewall. 1,3,and 5. 5 being on the drivers side. Causes could be. spark plugs, plug wires, bad coil/s, and a blown head gasket. Pull a plug wire check for spark. If spark is there, then do a cylinder compression check.
Most gasoline six cylinder engines fire in sequential order: 1, 2, 3, 4, 5, 6. And most cylinders are numbered the same. Looking at the engine from the front of the vehicle. The left cylinders are old starting at 1 closest to you and in sequential order. The right cylinders are even starting at 2 closest to you and in sequential order.
if you have an engine appearence cover, you must remove it. otherwise the spark plugs should be easy to locate. just follow the spark plug wires to the spark plug. in the case of a coil for each plug, the coil will have to be remove to access the plug
I posted this solution for this same engine on the 2001 Kia Optima. It is Exactly the same 2.5 V6, and the instructions are exactly the same. I recommend replacing the plug wires. Please see 2001 kia Optima for the rest. Good luck, it's fairly easy.
I'm fairly certain those motors require the upper intake manifold be removed to gain access to the rear spark plugs. You might be better off bringing it to a qualified technician as it gets fairly involved. If i remember correctly it's about a 2 hour job and requires a few gaskets.
Hope not too late to help. I have changed all plugs 2 times now myself. Mine is a 6 cylinder. The rear 3 plugs are impossible to remove without unbolting the intake manifold and other contraptions like the throttle/cruise control cable and 4 inch air intake tube. If you have engine work experience, great! If not, color code every disconnect then match up on the reinstall including plug cables. Here is where you might not know what to do. First, the gasket (Planum) is a reusable metal gasket. Their is no replacement at Kia (crazy but I asked everywhere in NC) so be sure to tighten each bolt on the intake alternating and to speck amount, a 12 foot socket 1/4 inch wrench is plenty of torque so don't overdo it. I believe 15 lbs of torque is correct but verify. If you like taking risks just tighten using your wrist only (not biceps mustle) as tight as you can using wrist only now! [Rent a torque wrench or buy for $10 - $20 if you don't own one]. Since your doing all this work, change all plug wires and only use Platinum or better plugs that last at least 60k miles of use. You wont be able to change back 3 wires later by the way so buy 3 OEM Kia wires (not the kit) to save money if you want. I mixed plugg types and mine ran just fine!!
Plan on 4 meticulous hours your first time. My 2nd time took 1.5 hrs with a short break.
remove the number one spark plug and insert a long screw driver in the spark plug hole then turn the engine and when the screw driver gets to the top or highest level and just about to go down again then there is the top dead center then look for two marks on the crank gear and make sure they match