2002 Explorer idle and stumble

My explorer is a 2002 with 93k miles and the 4.6 V8.

Sometimes when I start the car, it will die (like it is trying to idle very much too slowly) unless I give it throttle for a bit, then it seems to figure out where idle is and is then OK. Simetimes it figures this out quickly after hitting the throttle a time or two, sometimes I have had to drive it a bit (holding throttle at idle to keep it from quitting).

Also, when driving: under VERY SLIGHT acceleration from a steady speed (almost any steady speed), it will "stumble" and does not want to accelerate. Letting off on the throttle and then accelerating a bit harder fixes the problem.

Other than these, the car runs great and gets good mileage.

There are no codes set, and TPS position at idle comes back as 17%

Thanks!