Update. Just changed out the 02 sensor, went from a splice in bosch with only 20k miles on it for a OEM DEnso brand. The problem is cured! Finally after about a year of off and on chasing of this problem it is fixed!
thanks for all the replys and help-jon

This thread has me wondering about something similar on my 4runner. I have a similar issue as in that after a drive, and restart while warm the truck will idle rather roughly, but drives just fine with no bogging or hesitation. When it's cold it idles smooth as silk. I just redid the exhuast with new cat, larger pipe and new muffler and that seems to have helped a little but its still there, not a major problem, just an annoyance.

As far as I can tell the O2 sensor is original with 192k on it. I don't have any codes and milage is not bad, but I wonder if my sensor could be getting tired? I hate to replace it if it's perfectly fine, but if it will make my idle smoother I'm all for it.

This whole time i tracking down this issue I never had any codes. The two 02 sensors looked very different from each other, the Bosch unit only protruded 3/8" into exhaust pipe, while the Oem unit was 3/4". Much more surface area. If you have that many miles on the 02, it probably would not hurt to change it out. Just go with Denso brand OEM unit.

Sounds good, its the only thing I haven't done for it's 200k mile tuneup, <img src="/forums/images/graemlins/smile.gif" alt="" /> I take it sparkplugs.com is the cheapest? Anyone know what napa charges?