On the V6, the EGR valve is right at the front of the engine on the left side as you look at it from the front of the car. It is easy to remove and it is also possible to clean out these devices and restore normal operation.
Another tip: my 01 V6 threw similar codes a while back and they cleaned the actual EGR valve and replaced the solenoid. However, no more than a couple of hours later it threw the same code again (EGR insufficent flow). A closer examination revealed that the EGR air passages in the throttle body were also carboned up. They just needed to be cleaned out and that restored normal operation. I suspect that my EGR solenoid was fine all along and good cleaning was all that was needed.