Don't give up, you're too invested at this point to never know whats causing the rough idle. So an occasional miss or stutter at idle in park after it is warmed up. Is it only when the ac compressor kicks on?
50k on a 2003 is very low mileage. Did it sit in a barn for years, or has it had a lot of short trips? A bottle of seafoam through the intake can only help, unless you hydro-lock it of course. Do you ever drive it like you stole it? That is good to do once in a while to burn off excess carbon.
What is your altitude. Your vacuum is barometric pressure minus MAP. So 29.92 in baro with 10 in MAP = 19.92in of vacuum. I don't believe your rig has a map or baro sensor, it is just a calculation from MAF. I could very well be wrong. I am close enough to sea level here in west MI. and a normal map reading is usually 8-10 in. at idle, so 6.8in is a little on the low side depending on your actual barometric pressure. So maybe your MAF is causing a miscalculation by the PCM or maybe you are at a higher elevation, but if you do indeed have higher than normal vacuum readings look for an air inlet restriction since that can act like a second closed throttle plate starving it of air.
A couple of mechanical things to check with gauges;1. vacuum, 2. fuel pressure. I believe Autozone might have these in their loaner tool program. You might have to pay a deposit but you get it back. You could also probably check these readings while still in their parking lot to save the hassle of bringing them back. It is critical that you record the readings while the vehicle is stuttering and while smooth, and keep those numbers separated and titled with conditions. Does the vacuum gauge flutter or is it steady?
It still could be the MAF sensor since fuel trims sometimes tend to be a little erratic. You have negative at idle and positive at cruise.
Just for giggles can you throw on your old IAC and take the same readings? (just two 8mm or 5/16 bolts and a plug right?)
What also could help is a snapshot of your datastream when problem occurs, vs when it is smooth.
Don't give up and sell it quite yet. There is still more data to gather.
Keep fighting the good fight my friend...