I have 95 Tacoma 3.4L 4WD owner. It has 220k on it but is in great shape inside and out and have always kept a good maintainence schedule. latley it has been it has been having moderate hesitation and what i think is a miss between 1500-3500 rpm. If I feather the gas just right it will acclerate fine with no miss but if i hit the gas hard it will hesitate and miss untill it get above at least 3500. I have changed my fuel filter, spark plugs, air filter, ect... When I changed my plugs I did notice a little bit of arc on the ends of the spark plug tips where it connects to the plug wire. What would cause that? Maybe a sensor or something? Need a little help. Maybe just time for new motor?

Are those the original plug wires? If so, they may be on their last legs so I would change those out.

yeah the plug wires are fairly new within the last 60,000 anyways

I am assuming your not getting a check engine light. Might be worth checking for codes tho.
You can rule out the motor quickly. Do a compression test. If all the cylinders test good (aka compression good, 10% variance between them, etc), then your motor is fine.

Things I would check, in this order.
Distributor (unsure if you have one)
Ignition system. Check for a good BLUE spark on every cylinder.
Mass Air Flow sensor.
Clean out the intake if dirty. Including taking off the throttle body and give is a good cleaning.
O2 sensors. They should be replaced every 100k.
Fuel pressure. Weak pump maybe?
Valve adjust? I am unsure what the manual wants for the 3.4L, but it's worth a look.
Fuel Injectors. Bad fuel will build up and no amount of cleaner in a can will fix it. Take them out and send them to a shop like RC Engineering for a full clean and bench test.

Post back if you have any questions.