Have a look for a vacuum leak. Could be a loose hose or damaged hose. For example the PCV valve hose.
In idle the engine will run in closed loop, so uses the O2 sensors for fuel fine trimming. But never heard of a loppy idle due to the O2 sensors.
JEEP Grand Cherokee 4.7 Lmtd 2004
HID 8000K in low and fog / Quad Squad member
KYB Gas-a-Just shocks / Pirelli Scorpion ATR 245/65/17 - Transgo reprogramming shiftkit.
We finally got a chance to look under the hood and we r thinking I need a new intake gasket so I will b putting a new one on. It will be some time until I get a chance to put a new one on but I will update afterwards.