Speaking from personal experience (ARGH!) but there's no _real_ way to tell short of pulling the head.
You should do a leakdown test (search if that's not familiar to you). One thing that can quickly be done to give you a hint is a simple paper towel test.
Take a single sheet and hold it at the end of the tail pipe while the engine's running (idle is fine). If the towel seems to get sucked towards the pipe, then you have a stuck/burnt exhaust valve.
Bottom line though, the fix is generally same for either intake or exhaust - you have to pull the head.
Obviously this is a 6 banger, is this the 3.0 or 3.4? There's nothing in your sig or profile to help figure that out. (hint!)