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First thing I'd do is pull and inspect the plugs, and maybe clean the MAF. Maybe a compression check while you're at it, if you have a gauge.

You can use a scantool to monitor which cylinder (or cylinders) are missfiring, even if it's not enough for a DTC it will still keep a count of misfires. If you can see which cyl is the problem, try swapping coils and see if it follows the coil.

If you don't consistently run top-tier gas, maybe use a a bottle of techron in your next two tanks of gas. Or just pull the injectors and either get them cleaned or replace them. You could try swapping them too, but for the effort of R&R I'd just clean or replace them.

After that you need the compression check.
 

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What we find is generally the cause of a misfire at idle is an incorrect air/fuel mixture. This can be caused by a faulty O2 (oxygen) sensor or a single injector that needs cleaning, or even a vacuum leak.
 
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