Misfire and intermittent hard start

Hey, so at idle every once in a while the car stutters, RPMs will drop, ABS kick back up to regular idle. Car will shake quite a bit because of the idle drop. Then when I go to drive it if I press the gas a decent amount it’ll begin to feel a hesitation and somewhat of a small couple of backfires or pops. Kind of sounds like it coming from under the cab. There are no exhaust leaks. I used the thermo gun and checked catalytic converters and they’re fine. I checked all exhaust manifold ports and they’re all around 200-230. But I have cylinder 2 at 280-330. So I’m not too sure what that means. And I do have one that drops around 140ish. So maybe that’s why cylinder 2 is hotter because it’s trying to compensate for the other one? I’m not too sure just a thought. Also I have no check engine light on. And I replaced the crank position sensor and cam position sensor and re-learned them both and also nothing has changed. Also sometimes has trouble starting up. Then starts up and buy white cloud of smoke and then just goes away.