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I had the same problem with my 02. had to replace the EGR Valve.
A vacuum leak can cause that.
Sounds like the transmission needs servicing - filter and fluid change at a minimum, possibly more.
A vacuum leak or a dirty or defective Idle Air Control Valve will cause an unstable idle. jd
check your idle air control unit also called an IAC motor
with a rev counter
ID-ten-T error.
you have to turn the idle screw down ?? ? ? ? ? ? ? ? ? ? there are 2 of them. one on the right and one on the left. the left one is general idle and the one on the right is for air-conditioning idle and high power output idle ( rev higher ) A vacuum line may have come off if it has started revving.
The most common cause of engine surging (rev up and down) is a dirty air filter.
idle airflow metre or pipe may have come off carb check both
vacuum leak, bad idle control sensor
change the TPS sensor, (throttle position sensor).