OKay well no CEL then usually means its not emissions related (not 02's, MAS, etc)
At leas the computer thinks everything is fine.
I really doubt it is carbon on the valves, because even with 140K miles this engine should run smooth as can be.
I assume you have reset the battery after each tune up, what about the fuel filter?
Does the 01 SOHC require the timing chain tensioner fix?
Is it only at idle or does it miss at all times?
Does it do it only cold or warm as well?
I guess back to basics here.
Check fuel pressure, check spark at all 6, check compression, check for vacuum leaks, etc.....check the spark plug wire routing (never know), I have heard of the SOHC skipping 1 tooth on the timing chain, but I would think you would suffer from more then a miss at idle.
these driveability issues can really be a PITA to find.