The engine sounds like an old truck

Hello, have you checked the exhaust manifold for any leaks? On these older vehicles sometimes the exhaust manifold studs break right off or loosen up and back their way out and it will be missing a bolt. Or it could be the exhaust manifold gasket. If it sounds that loud, like half the exhaust has been chopped off, that is where I would check. While it's running just feel for air pushing out of the manifold. Don't get close enough to touch it, just enough to feel for exhaust pressure pushing out. This is a V6 so both sides will need to be checked, especially underneath.
Also check the DPFE sensor, in the diagram below, it's connected to the pipe that leads to the EGR valve. It's a pressure differential feedback sensor. It has two little tubes connected to it that run down to the EGR tube, they break off sometimes, even right up at the top near the sensor where the two rubber hoses meet the sensor. They can be hard to spot because of the rubber hoses hiding the problem.

https://www.2carpros.com/articles/how-exhaust-systems-work