In former vehicles that was a sign of IAC valve getting a carbon build up inside it or Throttle Body. Does your truck have an Intake Air Control Valve?
I use a bottle of Techron in gas tank every oil change to stay ahead of carbon build up.
2007 v6 w/255k. been noticing this for a couple of years. don't notice anything driving. rpm's bump up from about 800 to about 1100 while sitting. any ideas why?