Poor idle can be cause by a few things. At regular tune up times I like to pull my throttle body and EGR spacer and clean all the EGR dust build-up out of there. The last time I had a surging idle this fixed me right up. Clean all the components attached to the throttle body and spacer as well. Use throttle body cleaner and some parts cleaning brushes.
Also, the two large 10 pin connectors behind the intake have been known to cause a poor idle when they get gummed up. Disconnect them and clean them with an electrical contact cleaner and see if that helps. There is some grease or something you are supposed to put back on the pins of the connector to keep them from getting gummed up again but I'm not sure what it's called. I probably need to clean mine too so if anyone knows what this stuff is called let me know.
After you get that done reset your TPS to .94-.98 volts and reset the computer and you should be fine after that.
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