What did the underside of the Camshaft Position Sensor look like when you replaced it? Did it look like something was making contact with it?

Here's a TSB on the Cam Sync that sounds a bit like your problem.

TSB
05-22-12 BUCK/JERK AND MISS DURING DRIVE CYCLE ABOVE 3000 RPM - NO DTC - 3.0L 2V GAS AND FFV ENGINE

Publication Date: October 25, 2005

FORD: 2000-2003 Taurus, Ranger
MERCURY: 2000-2003 Sable


ISSUE:
Some 2000-2003 Taurus, Sable, Ranger vehicles equipped with a 3.0L 2-valve gas or FFV engine may exhibit a buck/jerk/miss during drive cycles above 3000 RPM with no diagnostic trouble codes (DTC's). A possible cause is the camshaft synchronizer assembly. Since the camshaft position (CMP) fault monitor is not active above 2500 RPM, no diagnostic trouble code (P0340) is set during the drive concern, thus making it difficult to diagnose the root cause component.

ACTION:
Use an NGS to identify whether or not the synchronizer is the causal component. Refer to the following Service Procedure.

SERVICE PROCEDURE

Select PID database.
Select "Fuel Priority" PID database.
Select KS1 and RPM PID's.
Capture data during drive symptom.
Using graph mode, display KS1 and RPM.
Look for knock errors which can be identified by rapidly rising peaks which correlate with drops in RPM (Figure 1).
If the synchronizer assembly needs to be replaced, follow the appropriate model year Workshop Manual, Section 303-14, Electronic Engine Controls, Camshaft Synchronizer - 3.0L (2V) Removal and Installation procedure.