5th Gen Low idle problems

I have been chasing this idle problem for a month or so now, my 2015 4Runner Limited when sitting at idle chases from 500-800. It also surges and causes a slight vibration in the engine, but only occurs when the engine is warm and whether the a/c is on or off. This is a low mileage 4runner (23k) and does not get up to speed enough, so when it fist happened I checked the gas and added some additives, but it continued. I next went to the battery (it's the original from the factory) it was not able to hold more than 12v static and it would drop to 5v under load. The next I changed out the plugs, which looked on the darker side but still not burned for 23k plugs. It still is giving me the idle flux, and vibration but only when it is in low idle (at stop sign or static idle) I have been told there is a idle reset for after a battery change but I can not find it anywhere for a 5th gen. I have seen some crazy ones (press gas pedal for x seconds, start car, shut off, press gas for X seconds). The next steps I am thinking would be the pcv or Idle control, but what are you thoughts on the idle reset?

 

When I ran the tester on it, it originally showed a cylinder 4 misfire (before changing the plugs). I cleared it, and have been testing on and off with 0 entries on the tester, as of today we have no outstanding errors.

 

Try cleaning the TB you never know. Simple stuff first.

Especially with no codes now.