I have a 2000 auto and what you say is "normal" to me...was like that from day 1...I would have even said 4000 rpm...
If previous year models were different as you say, I would blame it on the computer algorithm...may be for change of rules for emission control....and SOHC were probably better at low RPM but DOHC are designed to peak the torque at a higher RPM.
WHen about to address an uphill, I trig the HOLD button so it revs 4000 and then it keeps with the load; leaving it in 4th would be no good for the nerves.
I had planned to disconnect the knock sensor..and replace it with an equivalent so computer does not go to fail mode...but did not manage to do it yet. Whenever I try, I'll report the results....if any.