The early (1997 to 2000) timing chain components could fail as early as 40,000 miles but last as long as 250,000 miles. I suspect engine maintenance and driving chararacteristics impact the longevity. Various upgrades were made by Ford and all of the upgrades were incorporated in the 2002+ models. The base of the primary (crankshaft to jackshaft) chain tensioner was widened and strengthened and the spring was increased from 3 leaves to 6 leaves. The combination spring/hydraulic tensioners were upgraded and a plastic "pencil" was installed in one of the oil chambers to decrease "dry start" time at the front of the engine. The left and right plastic guide assemblies were reinforced with metal. Unfortunately, the traction side of the right guide assembly was never reinforced and can still break from heat and vibration fatigue. That is why I decided not to invest in expensive performance modifications to my SOHC V6 even though I have installed the latest timing chain components. I installed a pre-oiler to extend the life of the timing chain and other engine components but will switch to a V8 before installing expensive performance components.
Frequently, the engine will emit warning sounds when the timing components are failing. However, some members have experienced left or right guide assembly failure with no warning. If the timing chain on one bank slips a lot then the valves on that bank will be struck by the pistons. Even if warning sounds are detected it is difficult to isolate to the source. I have unsuccessfully used a mechanic's stethoscope and a length of flexible hose. The only reliable way to isolate to a failed component is by visual inspection.:
SOHC V6 Timing Chain Inspection & Repair
Since your 2001 may have some of the later components either from the factory assembly line or a recall program you may want to just wait until you hear marbles rattling around the engine at engine start or at 2,500 to 3,000 rpm. Once you hear the SOHC V6 "death rattle" you risk valve destruction if repair is delayed. I suspect timing chain slip is most likely to occur during rapid engine deceleration or when oil pressure is low (as at engine start). When the engine rapidly decelerates chain slack can occur on the traction side of the cassette. The springs in the hydraulic tensioners are not strong enough to keep the chain taught without hydraulic pressure assistance.