I would assume this is the 3.6 liter GM engine used across the board in many of their car lines--FWD and RWD? The engine has been out for many, many years.
On paper and when running right, that V-6 is quite a performer. But in reality, it's been a very, very troublesome engine.
GM once had so many overhead valvetrain problems that they quietly dropped the 60K mile original warranty back to 36K miles. I really would have thought they solved those engine problems with so many on the road.
My step son has a Camaro with the V-6, and the timing chain, pulleys, tensioners and guides had to be replaced. The engine had to be about half disassembled to replace the parts, and it's more than a day's labor. He paid just under $3K to get it fixed. A couple of years later, the same thing happened again, and he bought a completely new crate engine with a 3 year, 36,000 mile warranty.
It sounds as if you've got some kind of ESP. By all means, take that car to the dealer and get it looked at. And don't accept that it's a normal wear issue. The dealer by now has seen so many V-6 engines in their shop that they probably can tell you what's wrong by listening to the engine running.