So the truck only runs like doo doo at idle correct? the EGR valve if sticking open can cause a rough and want to run like crap at idle condition if it is opened at idle. The egr is used at part throttles to purge some exhaust gases into the combustion chamber to reduce the production of NOX for better emmisions. You could have a EGR valve that is sticking open after you drive it and come to a stop or off throttle and allow it to idle.

Next time you start it up and it is running smooth, unhook the vacuum hose to the EGR valve and then road test it and see if it idles better again.

Also fix your PCV hose and grommet, that id for sure a vacuum leak and causing the high idle condition. Might aswell put a new PCV valve in there while you are at it.