I have the famed "stumble at idle" and have discovered that if I hold the brake and give it a little gas and raise the rpm to about 800-900 it runs smoothly. So is there an easy way to adjust the idle, or is this caused maybe by a bad IAC? Also I tried adjusting the Idle with the TPS and that didnt work very good.

 

Tuning! It is the only correct way.

 

Could either be IAC problem such as carbon build up on the pintle or it could be the same problem with the EGR. Both should be cleaned and or replaced and don't forget a new gasket while your there.