2015 4runner p0300 code, miss at idle only. Starts and moves fine.

What is your question?

Starts and accelerates fine, no miss at speed. No shifting problems. Idle gets rougher when warmed up. 251086 miles on vehicle, about 40000 on plugs and air filter. Everything else factory original, cleaned maf, no change. Miss is very random, might be two or three in a row, then one every half minute or so. In gear or park/neutral makes no difference, miss at idle.

What makes this problem better or worse?

Gets worse as engine warms

How long has your 2015 Toyota 4Runner had this problem?

Threw code about a week ago after long trip