lean fuel mixture or exhaust leak between the head and the manifold. I had that problem, and it turned out that a manifold bolt had broken, and exhaust was escaping around the exhaust gasket.
As I understand, all Fiero V6 exhaust manifolds get a little hot, and will get to glowing after a while. You can't see it in the daylight, but at night you can see it glow. It may not be anything to worry about too much if you can't see it at night. In my case, it got red hot at idle in a minute or so.
BTW, this has nothing to do with the fire problem in Fieros. When low on oil, or wasn't changed often enough, the 4 cyl rods would break, blow a hole in the side, and dump oil on the exhaust that runs underneath the engine, which would catch fire. This was limited to the 4 cyl, and I believe they fixed the problem by adding a heat shield over the exhaust.
BTW, Pennock's is the place to ask for help with this issue - lots of info there, and a ton of Fiero gurus:
www.fiero.nl