So knowing that you are at 56k miles, and this is probably the first time the plugs have been changed. You absolutely need to change all 6 at one time. Not doing so will only hurt your engine over time.
Yes, if it is occasionally misfiring it will take the engine running for a few minutes to set the CEL; unless it happens on start-up..
Give it a little gas while (maybe take it up to 2K - 3k rpms) and see how the revs climb, do you notice any hesitation? If so, at what point? How is the throttle response?
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