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From the 'milkshake' colored oil, I suspect coolant was leaking into the oil - sludging is caused by water present in oil, when the engine is not brought up to operating temperature / the oil is not heated sufficiently to burn off the water, engine sludging occurs..

The water from the coolant leaking into the oil pan would be a possible cause.
 

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I now drive a 2020 Ram Bighorn. Had an 03 LX 3.5 Sorento
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Various conditions could cause the sludge.
Already mentioned:
Water in the oil.
Wrong oil weight or non-detergent.
Extreme dirty conditions.
Slow temp build up or short driving cycles.
Long intervals of oil change or filter.

My 03 has 125,000 on her and she lookes very clean. You have some issues that need to be tended to if you don't want it to happen again.
 
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