I would check and clean the Idle Air Control Valve first. Remove it, spray and soak it with brake cleaner. It is on top of the throttle body; should be easily accessed. If the sputtering at idle continues, replace the IAC valve.
Bad O2 sensors wouldn't necessarily make the engine run rough because they simply provide feedback to the PCM (car computer) as to current operating parameters. In fact, you can disconnect them and the engine will appear to run almost the same.
Thursday, November 12th, 2020 AT 8:04 AM