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2000 excursion has engine surge at idle in drive at stops. Engine runs great other than that. It only does it in drive. Doesn't do it in reverse. Weirdest damn thing! Come on with a solution.....
Try unplugging ICP sensor on drivers side head. Look for oil in connector, and see if idle smooths out.
That didn't help. Funny thing is the rpm will dip to 500 and rise to 800. It does it slowly and only when in drive at idle. I did have a p0605 internal pcm rom failure code. I removed the banks power chip and the code went away, but the idle surge is still there and not all the time. Now the transmission was rebuilt not too long ago. It's almost like the transmission is being shifted from drive to neutral over and over again, but without the out of gear feeling.