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I've been troubleshooting my daughters 98 with a similar problem that turned out to be (so far at least) a destroyed idler pully of the timming belt. I don't think that is what's going on with your cars, but I've learned in all my reasearch that the MOST common problem (on the 2.0 4 cyc zetec engine) is with the VCT valve. (Variable camshaft timming).
The good news is, this valve is 'powered' by oil, and it's very sensitive to dirty oil, or even using 10w 30 instead of 5w 30, and if it's not workng correctly, any time you hit 3000 rpm it begins to control the exhaust camshaft timming. If the oil isn't able to power the VCT valve, you get a hesitation.
If that's your engine, You might consider getting an engine flush done, or do it yourself, then change to the 5w 30 if you aren't using it already. Also my alldata book said to only use a certain oil filter that holds the oil inside when the engine is shut down. I guess that's suppose that's to get the oil to the engine quicker on startup.
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