Why does my trucks engine keeps jumping, kinda like backfiring without the pow. It happens at 1500 to 2k rpms?

I have a 2002 Ford F-150 with 180k miles on it. The engine seems to still be in good condition. I keep the oil, oil filter, air filter, and spark plugs changed at regular intervals. When it started i cleaned the m airflow sensor and changed the fuel filter hoping it would help, but the problem is still happening. I need help. By the way its a v6 and i think its a 4.6L.