I've owned this truck since new and now have almost 232k miles.

I've been chasing an idle issue for well over a year. It only rears its head when stopped, in D and with A/C off. When I come to a stop, it will idle just above the 500 RPM line and it surges a bit. When light turns green there is zero hesitation. Drives like it should. Now if I come to a stop and place in N or P everything is smooth. If the A/C is on and I come to a stop, it idles in the 700-800 range and all is smooth.

Anyone ever have this problem?

 

How many miles on the spark plugs?

How is the fuel pressure at idle?

 

If it were an older model I'd say the IAC valve was sticking but I believe yours doesn't have one. So the first thing for you to do is clean or replace the MAF sensor.