Maybe your throttle position sensor simply needs adjustment! I have an '02 V6. And one time i cleaned the throttle body, and after i did this, it idled with the same symptoms you have. So trial and error i found to adjust this sensor (the one with red dot by its name in the image below).
Just
loosen the two phillips screws. The screws hold the sensor on through slotted holes in it. These slots allow the sensor to rotate just a little. And if you rotate the sensor, the idle will change. Maybe enough to fix your problem.
You will need a stubby phillips screwdriver because no other tool will fit. And press hard on the end of the tool as you loosen so you dont strip them out. Loosen the screws only enough to enable the sensor to rotate! (Its problematic to put the TP sensor back right if you take it off). Rotate the sensor and see how your idle changes. so try adjusting the idle and maybe you can make the problem go away. Worth a try.