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first thing to do is check for vacuum leaks, clean and tight electrical connections, etc. then pull computer codes and run the required tests for each code in the computer. you can find what tests you need to run listed in a repair manual. dont just throw parts at the vehicle though, you might get an O2 sensor code for instance, but the code only tells you what system is being affected, not what the actual problem is.
Check the EGR valve. We had the same issue on our 08 Escape 3.0 and that was the culprit. It literally takes 5 minutes to replace. Coupled with the severely underrated performance, it would also refuse to idle until it was at operating temperatures. It would stall as soon as you let off the gas pedal. If I recall the part was about $45 at the local parts house. It took me longer to go pick it up than it did to replace it.
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