Good news! I just wanted to close up my problem situation concerning my initial thread (2nd one from top). Key message is trust your equipment. Meaning, my ODBII registered a P0715 error (input shaft speed sensor) when the Sedona shuddered. Initital I thought it was a mis-firing so I bought plugs, then another set of Kia plugs, then when that didn't solve my shuddering problem, I bought the plug wires. All of this caused the check engine light to come on after a hard shuddering which would throw my transmission into 3rd gear (fail-safe mode). I kep getting P0715 code but didn't trust it, figuring something else further upstream caused this to register.
So I said, OK I'll go ahead and buy another input shaft speed sensor. Well after replacing this baby... I'm good again. Shifts really smooth and nice. No shuddering.
Concerning changing the spark plugs on the 2002 Kia Sedona. Yes, the back three plugs look intimidating at first because you can't readily get access to it without removing a few things (manifold). But don't let scare you, just take it one nut/bolt at a time. It took me several paces around this thing to get some confidence to pull things out to get to the plugs. But it can be done. I've heard others trying to get from under the car and I don't know how they do it without being a limber gymnist. I found it to be much easier to go from top. Take the 8 nuts from the manifold, the 4 bolts that attach the "butterfly/air flap" component. The 3-4 bolts on the back of the manifold bracket, and the surrounding electronic nic-nacks. The manifold just pops right off exposing the back three plugs.