I've got a 2001 4.4i 5 speed, but the logic is the same whether 5 speed or 6 speed.

Drive - Upshift ASAP when throttle is lifted for fuel efficiency. Also puts fewer revolutions on engine which equates to less wear.

Sport - Upshifts later, downshifts earlier, holds in gear with abrupt throttle lift for running the "twisties" using engine compression braking; consumes more fuel.

Manual - Will start off in selected 1st, 2nd or 3rd gear. On my 5 speed with Dinan software will hold in 5th gear down to about 36 mph, then auto shifts to 4th; in 4th down to about 20 mph, then auto shifts to 3rd which will be held to a stop and restart. Used for manual running of "twisties" or towing.

Bottom line for neighborhood - Use Manual mode 3rd gear, i.e. start off in 3rd gear, as I do in neithborhoods from stop sign to stop sign; less power (shouldn't be racing through a neighborhood anyway) but never shifts AND gives you engine braking to stop signs. This won't hurt the transmission as the torque converter compensates (works like the old Buick "Dynaflow" slush box of years ago).

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