i've had them replaced on 2 tauruses, my 1991 at 101k and my 1995 at 35k. there is a new ford kit with head bolts that are different - dont stretch until the bolts reach yield. and there is a new head gasket they have. if you don't check the tech bulletin, the mechanic ends up putting on the old stuff and i think the new is supposed to be better.
i didnt have it done at a ford dealer. the 1991 cost $950, but the 1995 cost $850, but i bought a used car warranty when i got the new one, so i only spent about $200.
there is no recall, so you need to check the bulletin. been there twice. i still love the 3.8 engine better than the 3.0, so thats the cost of getting it.