The car has shut off several times while driving. When I try to restart it cranks but does not fire. It has also not started several times. Again it cranks but does not fire. I had the fuel filter replaced and all codes have checked fine at two automotive shops.It is a very random problem I can go days with out it happening again. Seems like a fuel pump.

3.4 or 3.8?

3.4 or 3.8?
try the cam sensor. is it throwing a light?

The cam sensor will not cause a stall and as the OP mentioned there are no codes.

3.8 ltr, no it does not show a check engine light. I replaced the fuel filter and when the car dies there is still fuel presure so I dont think it is the fuel pump anymore. "crank shaft position sensor"? or ignition maybe?

When it dies try and check for spark and injector pulse ,or get a scanner on it and see if you have cranking rpms.