I hear alot of 3.1/3.4 ticking almost all the time wheather it be in a Impala, Malibu(previous gen), Venture and other GM's with these two engines(GrandAm/GrandPrix). I have even heard/listen to a 3.8L GrandPrix SC ticking.
These engines seemed louder apon cold start up and then quieting down to just a mild ticking. Doesn't seem to be an issue as I have seen these engines tick themselves all the way to & above 200K miles with little trouble except their gaskets. And some never had the gasket issue.
My SIL/BIL in LasVagas had a '99 Venture minivan from new with the 3.4L and never an issue of any kind with over 200K. And it's hot in LV!
Lots of folks in our circle seemed to love the Chevy Venture/Pont TranSport/Olds Silouete minivans all w/3.4L and never an issue with the engins although they all ticked at some point in their life, some worst than others. And some folks did replace their known IMG/HG. Otherwise, they're good to go!
I loved these GM V6's as I think that they made great torque, decent HP and very good MPG.