Missing at idle but runs okay at 2,000 RPM's

Can you let us know everything you have done so far to address this?

The cause of this is an imbalanced air/fuel ratio so we need to find out if it is rich or lean. Most likely this is a lean misfire because when you raise the RPM, it is dumping more fuel. So if it is lean that means we either have a vacuum leak allowing unmetered air to come in or faulty fuel system.

Let's start with this guide that talks about vacuum leaks and go from there:

https://www.2carpros.com/articles/how-to-use-an-engine-vacuum-gauge

Then can you monitor your fuel trims with a scan tool to see if they are in fact lean at idle? Thanks