I have a 2000 4R Limited 2WD. It's auto and 3.4, as all limited are. Anyway, a few weeks ago I noticed it start to idle at around 500rpm, sometimes even lower. It used to idle at about 750rpm if I remember correctly. I love this car, but it has 232k miles and needs some money/love put into it. Since the low idle issue, it's been a lot crappier to drive. Starting on hills, I need to use both feet, one on the brake and one on the gas, or else it'll roll back about a foot and a half. On flat ground, it stays completely still when I let off the brake. Which is basically the only thing I like about driving an automatic (car usually crawls forward when i let off brake). I'm probably forgetting some things, but if any of you know a fix to this please let me know. Can't really afford to take it to a shop right now unless it absolutely needs it.
Edit: It also vibrates a bit at idle. And the gas pedal has become very unpredictable starting from an idle.

The first thing I’d check is vacuum hoses. There are a bunch, and if any one of them becomes disconnected, you’ll get some kind of idling anomaly. So start by following every single hose under the hood to make sure it is connected to something at both ends.

Clean or replace the idle air control valve and clean the throttle body. That's where I would begin. Vacuum leak will generally cause a higher than normal idle.