An '06 3.5l does not use the camshaft actuator system.I would say check the intake and exhaust cam actuators. I had to replace them on my car as well. Otherwise I've heard problems with the wiring harness and complete tranny tear downs involved but hard shifting mainly in 1st and 2nd was caused by the cam actuators on the top of the valve cover on the left side there are two of them. they just come out with one 10mm bolt and then pull and they will slide out. PN was
12628347 and 12628348 for intake and exhaust. got them through gmpartseast.com they are 33.77 bucks. hope this helps