This is going to sound a little simple, but as soon as you think you might want to be going faster in a little bit, FLOOR IT!
The 6-speed isn't all bad. It's actually terrific, you just have to make it work for you. 1st gear is really deep, but if you roll away from a red-light gently and it shifts into 2nd gear around 13-15mph, you're too far down the torque curve to get any power. By the time you mash it at 20-25 mph, you're going too fast to catch 1st gear and it just can't get screaming.
Likewise on the highway, if you plan your moves a little bit and start gaining speed before you need it, these buses will move.
I didn't care for the "buy a Mustang" answer above as I already have a Mustang but can't take my family of 5 to the beach in it... but there is some truth to the point that it's not easy to find an extra 50 hp in an Expy/Navi (oh, if only we had Ecoboost!).
I've got some fast stuff too, but if you reprogram your right foot I think you'll find your Ford has more in it than you'd think.
Oh, and its free.