My 2000 has the same problem. First occurred with less than 1/4 tank of fuel now happens if less than 1/2. First only occured at low speed/rpm now at 60-70mph can feel hesitation.Backing off the gas seems to lessen the problem.
50K on car problem stared at abut 25/k filters have been changed twice. Is it possible fuel pump or computer is not geeting enough voltage?