Under load on take off from a stop or under heavy acceleration when already in motion could be one or more spark plug wires breaking down/misfiring.
You may be able to duplicate by opening hood, have someone set park brake and hold foot hard on regular brake pedal, block wheels also and press on gas pedal to simulate the loaded condition. Stand off to side, not in front of van and see if the engine misses and you may hear a snapping as the spark arc to ground. More common on the 3.3 engine.
http://howtobyme.blogspot.com/2011/12/car-still-runs-rough-after-tune-up.html
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2006 kia rio runs rough
http://technoanswers.blogspot.com/2012/10/2006-kia-rio-runs-rough.html
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Idle flair is noticed on car? Rough idle? car will not idle?
Erratic idle speed?
http://technoanswers.blogspot.in/2012/02/idle-flair-is-noticed-on-car-rough-idle.html
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Rough idle, staling and Erratic shifting?
http://technoanswers.blogspot.in/2012/03/rough-idlestaling-and-erratic-shifting.html
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These details will help.
Thanks.
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