Rough idle of 2005 4.6

I have a 05 F150 with the 4.6L with an automatic tranny, after warming up it has a very rough idle, and it is worse when in gear with your foot on the brake. Ford says there is nothing wrong (no harm to the vehicle just annoying) and that they are aware of a rough idle problem and it is more prevelent the longer the wheel base. Does any one else have this problem and if so what have you heard?

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Hate my F150
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