I'm not certain but I think I need to replace a component within the EGR system.
The EGR should stay closed until you have a warm engine well above idle. If it does that, you're okay. You should be able to put your fingers on the bottom of the EGR at one of those holes and feel the valve move up and down when you get the RPM's up with a warm engine.
If the VGR stays open at idle, it won't idle well. It should always be closed at idle. If it is stuck closed at a high RPM's (above 3,000), you will never know the difference unless you need to get a smog check.
-Don-