I thought the 06 had less horsepower according to the numbers. When I bought my V6 the dealer told me that the 2006 V6 appeared to have less HP than the older models simply because they revamped the standards by which HP was determined, so on paper the HP looked different, but in actuality it was the same.
There is a difference between the 2003 and the 2005's. The 2005's gained a bump in CR and also the biggest addition is that of the VVTi and its components that help to boost power through out the rev band.
As for the difference between 2005/6 and 2007 modelsIts the recalibrated SAE Net numbers that went into effect this year..most Asian cars lost power while quite a few american cars gained quoted power even though the engines are 150% identical to last years offerings.