I hooked up a fuel pressure gauge to the car and discovered that the fuel pressure was dropping when I applied more throttle so I went ahead and changed the fuel filter. That solved the problem! Car runs perfectly now!

Fuel filters usually don't clog so dramatically but I think it was a result of the 2 failed fuel pumps I had 30k miles ago. Common practice is to replace fuel filters when you replace fuel pumps but they were replace under warranty and the dealer didn't do so.