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You may want to try some searches on this forum. A lot has been posted on this topic. Just off the top of my head, here are a few key differences I am aware of. These changes apply to 2001-2004 models:
* Use of LS-6 intake manifold and some other tweaks...results in a 5hp increase and more torque at lower RPMs
* Stronger synchros in the transmissions
* Improved 2nd generation active handling which became standard equipment.
* Improved soundproofing.
* Wagon wheels replaced in 2000 with thin spoke versions