It appears to be idling low in drive, around 5000 RPM and stalls some times.It is the 3.2 Engine and runs fine when accelerating, but will stall some times when coasting or at a light. It does not seem to run rough but just stalls.

Doesn't sound like an Idle problem to me. Sounds more like a timing issue,probably has some slack in the timing chain based on its age so even with new plugs it needs a timing adjustment.

Sounds like you may have fuel filter problem. you may want to check the pump and filters located in or near the fuel tank.
Go directly to the source ( Fuel Tank, Pump, Filters, Fuel Pressure Regulator and Injectors )
You may have water or grit in the fuel
Hope this helps

two things from what I read is the tps sensor and iac valve

It can be low fuel pressure issue or clogged fuel pump. Or its engine related issues,---------------

Check the help link mentioned below to troubleshoot the problem: ------

Engine stalls when gas is given?

http://technoanswers.blogspot.in/2012/01/engine-stalls-when-gas-is-given.html

-------------

Car stalls when MAF sensor is connected?

http://technoanswers.blogspot.in/2012/01/car-stalls-when-maf-sensor-is-connected.html

------------

Car Engine Stalls While Driving?

http://schematicsdiagram.blogspot.com/2011/12/car-engine-stalls-while-driving.html

--------------

Car stalls and throws white smoke from exhaust?

http://repairhelpcenter.blogspot.com/2012/01/car-stalls-and-throws-white-smoke-from.html

-------------

Stalls And Dies At Stop Sign?

http://www.howtobyme.blogspot.com/2012/07/stalls-and-dies-at-stop-sign.html

------------

GMC Sonoma Stalls and idles low

http://technoanswers.blogspot.com/2012/10/gmc-sonoma-stalls-and-idles-low.html

------------

Nissan Pathfinder stalls and bucks on Acceleration?

http://technoanswers.blogspot.in/2012/02/nissan-pathfinder-stalls-and-bucks-on.html

-----------------

1992 Chevrolet stalls and shutdown?

http://schematicsdiagram.blogspot.in/2012/04/1992-chevrolet-stalls-and-shutdown.html

------------

Stumbling and stalling at idle after engine rebuild?

http://schematicsdiagram.blogspot.in/2012/03/stumbling-and-stalling-at-idle-after.html

--------------

1990 mazda 323 stalls and quit running?

http://technoanswers.blogspot.in/2012/02/1990-mazda-323-stalls-and-quit-running.html

-------------

2000 Toyota Camry: Idling and Stalling Problem?

http://whatisbyme.blogspot.in/2012/05/2000-toyota-camry-idling-and-stalling.html

---------

1995 Toyota Corolla: Stalls, Sputters and Pops Through Intake Manifold?

http://whatisbyme.blogspot.in/2012/05/1995-toyota-corolla-stalls-sputters-and.html

----------------

1999 Toyota Camry: Erratic stalling and high engine RPM at idle?

http://whatisbyme.blogspot.in/2012/05/1999-toyota-camry-erratic-stalling-and.html

--------------

Dodge Dakota stalls, stumbles at idle. Has low fuel flow and runs hot?

http://schematicsdiagram.blogspot.in/2012/03/dodge-dakota-stallsstumbles-at-idlehas.html

--------------

1994 Toyota 4Runner: Stalls and Stops While Driving?

http://whatisbyme.blogspot.in/2012/05/1994-toyota-4runner-stalls-and-stops.html

---------------

1997 Toyota Camry: Erratic Idle and Intermittent engine stalling?

http://technoanswers.blogspot.in/2012/04/1997-toyota-camry-erratic-idle-and.html

-------------

Ford Maverick: No Idle and Stalling issues?

http://schematicsdiagram.blogspot.in/2012/04/ford-maverick-no-idle-and-stalling.html

-------------

These details will help.

Thanks.

It can be low fuel pressure issue or clogged fuel pump.Or its engine related issues,---------------
Check the help link mentioned below to troubleshoot the problem :------

Engine stalls when gas is given?

http://technoanswers.blogspot.in/2012/01/engine-stalls-when-gas-is-given.html

-------------

Car stalls when MAF sensor is connected?

http://technoanswers.blogspot.in/2012/01/car-stalls-when-maf-sensor-is-connected.html

------------

Car Engine Stalls While Driving?

http://schematicsdiagram.blogspot.com/2011/12/car-engine-stalls-while-driving.html

--------------

Car stalls and throws white smoke from exhaust?

http://repairhelpcenter.blogspot.com/2012/01/car-stalls-and-throws-white-smoke-from.html

-------------

Stalls And Dies At Stop Sign?

http://www.howtobyme.blogspot.com/2012/07/stalls-and-dies-at-stop-sign.html

------------

GMC Sonoma Stalls and idles low

http://technoanswers.blogspot.com/2012/10/gmc-sonoma-stalls-and-idles-low.html

------------

Nissan Pathfinder stalls and bucks on Acceleration?

http://technoanswers.blogspot.in/2012/02/nissan-pathfinder-stalls-and-bucks-on.html

-----------------

1992 Chevrolet stalls and shutdown?

http://schematicsdiagram.blogspot.in/2012/04/1992-chevrolet-stalls-and-shutdown.html

------------

Stumbling and stalling at idle after engine rebuild?

http://schematicsdiagram.blogspot.in/2012/03/stumbling-and-stalling-at-idle-after.html

--------------

1990 mazda 323 stalls and quit running?

http://technoanswers.blogspot.in/2012/02/1990-mazda-323-stalls-and-quit-running.html

-------------

2000 Toyota Camry: Idling and Stalling Problem?

http://whatisbyme.blogspot.in/2012/05/2000-toyota-camry-idling-and-stalling.html

---------

1995 Toyota Corolla: Stalls, Sputters and Pops Through Intake Manifold?

http://whatisbyme.blogspot.in/2012/05/1995-toyota-corolla-stalls-sputters-and.html

----------------

1999 Toyota Camry: Erratic stalling and high engine RPM at idle?

http://whatisbyme.blogspot.in/2012/05/1999-toyota-camry-erratic-stalling-and.html

--------------

Dodge Dakota stalls, stumbles at idle. Has low fuel flow and runs hot?

http://schematicsdiagram.blogspot.in/2012/03/dodge-dakota-stallsstumbles-at-idlehas.html

--------------

1994 Toyota 4Runner: Stalls and Stops While Driving?

http://whatisbyme.blogspot.in/2012/05/1994-toyota-4runner-stalls-and-stops.html

---------------

1997 Toyota Camry: Erratic Idle and Intermittent engine stalling?

http://technoanswers.blogspot.in/2012/04/1997-toyota-camry-erratic-idle-and.html

-------------

Ford Maverick: No Idle and Stalling issues?

http://schematicsdiagram.blogspot.in/2012/04/ford-maverick-no-idle-and-stalling.html

-------------
These details will help.
Thanks.

Check out related help links to troubleshoot these problem:----Click the link below:---Idles Fine but RPM jumps in drive mode?http://technoanswers.blogspot.in/2012/07/idles-fine-but-rpm-jumps-in-drive-mode.html
---------Mitsubishi Lancer rpm needle bounces?http://technoanswers.blogspot.in/2012/02/mitsubishi-lancer-rpm-needle-bounces.html
--------How to adjust rpm on 2009 dodge charger SRT8?

http://schematicsdiagram.blogspot.com/2011/12/how-to-adjust-rpm-on-2009-dodge-charger.html
---------
Engine cuts out at 3000 RPM?http://schematicsdiagram.blogspot.com/2011/12/engine-cuts-out-at-3000-rpm.html

---------

Cold start problem and vehicle shudder around 2500 to 3500 rpms
http://repairhelpcenter.blogspot.com/2012/10/cold-start-problem-and-vehicle-shudder.html

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High rpm in neutral? Inconsistant high RPM in neutral?http://technoanswers.blogspot.in/2012/02/high-rpm-in-neutral-inconsistant-high.html

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Jetski Sputters and Low RPM? http://whatisbyme.blogspot.in/2012/07/jetski-sputters-and-low-rpm.html

--------
Fuel Injection Problem And RPM suddenly increaseshttp://whatisbyme.blogspot.in/2012/07/fuel-injection-problem-and-rpm-suddenly.html

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2005 Toyota Highlander: Engine runs hard RPM below 3000?http://whatisbyme.blogspot.in/2012/05/2005-toyota-highlander-engine-runs-hard.html

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1987 Toyota Camry: RPM Drops going Up hills?http://whatisbyme.blogspot.in/2012/05/1987-toyota-camry-rpm-drops-going-up.html

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Cruise Control stops working, Excessive cranks to start the engine and RPM goes max 2500 http://whoisbyme.blogspot.in/2012/07/cruise-control-stops-workingexcessive.html

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1990 Toyota 4Runner: Engine cuts off when reaches 2000 RPM?

http://whatisbyme.blogspot.in/2012/05/1990-toyota-4runner-engine-cuts-off.html

------------
1999 Toyota Camry: Erratic stalling and high engine RPM at idle?

http://whatisbyme.blogspot.in/2012/05/1999-toyota-camry-erratic-stalling-and.html

---------
1995 Toyota LS: Misfire at idle or low RPMhttp://whatisbyme.blogspot.in/2012/04/1995-toyota-ls-misfire-at-idle-or-low.html

-----------
Lexus RX: Tapping noise under Valve Cover At Low RPM?http://technoanswers.blogspot.in/2012/04/lexus-rx-tapping-noise-under-valve.html

----------
These will help.
Thanks.

The automatic idle speed control system has lost its adaptive idle learning due to the dead battery. To help to correct this in the short term run the engine at 2000 RPM until warm, then back down to 1500 RPM for 3 minutes, then 1000 RPM for 3 minutes, then let it idle for 5 minutes, this should get the system to a point in the idle learn that it doesn't stall out, then drive it for 20 miles under varied conditions of highway and stop and go and low speed operation, that should get all to work again. If you still have problems you will need to have the system scanned to see what is going on that is causing a stall. Also add fresh fuel, gas goes bad in about 3 months. Use the recommended grade of fuel.

sounds like your carb is getting to much air some where check your hoses

check for faulty vacuum lines

Common issue at the shop (i'm a ford technician), here is what I do to correct it.
Here is the most common cause of surges and stalls at stops and low erratic idle speed and rough idle, it is the idle speed control air-bypass valve and throttle valve (IAC for short), they get full of gunk over the miles and cause idle issues (stalls, low idle) like yours, Get a can of intake cleaner from any local parts store, not carb spray, intake cleaner, it is made by a company called CRC, remove the air intake hose to the engine, hold the idle high so the engine won't stall, then spray the can of cleaner into the intake while keeping the engine running, use at least 1/2 the can, shut down the engine and disconnect the battery for 5 minutes, then restart and complete a number of mixed driving cycles, town, freeway, stop and go etc., after a few days the problem will go away as the system will relearn to the clean intake.