My '99 SE V6 grabs near the end of its travel too. That's often a sign of a worn clutch, but mine grabs very well and I've never noticed even the slightest amount of slippage. I think it's normal.
A good way to test it is to put it in 5th gear, rev the engine to 3000 rpm or so in neutral, and let out the clutch. It should stall instantly. If the revs gradually fall or it doesn't stall, the clutch is worn out.
