Miles? v6 or v8?
Start with the low cost items.
air filter.
Clean your MAF.
Clean Throttle Body.
Throwing any codes?
Our V6, with maintenance up to date at 96k miles, idles just a hair above 500 rpm when warmed up at a stop sign in D. Might be around 700 rpm when warmed up in N.
Like yours, smooth idle with no jumps or weird vibrations.
oh wow forgot to mention that the timing chain broke and the guy who did my head gasket redid the timing chain and everything for free including the oil pump. he said there was a lot of debris and crap everywhere so he cleaned out the oil pan and removed most of the debris then did a leak down test and put everything back together. everything was fine he said and everything was fine til yesterday.
but again its not like the car is stalling out just bogging seems like a little as i come to a stop only once...then everything goes back to normal...its really weird
... everytime i come to a stop my car idles around 500 rpms. its relatively smooth idle however it seems like the car could almost stop running.
when warm both of my 4th gen's idle on the gauge what looks to be just over 500 rpm... using my bluetooth obd2 setup I can see that the actual number is closer to 600, usually right at 573rpm (When the gauge actually makes it appear to be 500 rpm)... go digital from the obd2 if the number is your concern. I notice both mine drop about 50 rpm when coming to a sudden stop, recovers back to 570'ish... I've only ever seen the digital number go below 500 once at idle though. bottom line is, I don't think there's anything wrong if you have no codes and no stalling issues, drive it.
what would concern me a whole hell of a lot more is the statement from the guy who repaired your runner that said I, "removed most of the debris"... yikes.