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Sorry if this is too long, but I have an 03 6.0 and lately its starting surging at red lights. It started a few weeks back so I stopped driving it and starting researching. I have an Insight so I checked ICP voltage and it was at .6 I never found a spec for this sensor, but I read they are common to fail and cause my problem. When I removed the harness, it had a small amount of oil on it, so I cleaned it off with contact cleaner and put dielectric grease on it and reassembled. I started the truck that night and let it idle, sounded great. ICP sensor read 1v on my insight and no codes. Today I took it for the official test drive and all was great, until it warmed up. Once it was warm the idle rpm started to raise and lower by about 50 rpms constantly. The ICP voltage was at .8 No vibration or surging while on the throttle, only at an idle and would occasionally buck by about 150 rpm, just like before. When it starts raising and lowering the idle, I get a cylinder 2 circuit code that i hadnt had before. I repeated it tonight and it was the same, idled perfect with no codes until it was warm, then I gave it some throttle and let off and it started all over again and repeated the code. I really hope I dont have another injector going. Sorry for the long post, Thank you for your time
 

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Just a guess but it might be the EGR system causing it. Just disconnect the EGR valve and road test it. If it goes away you may need to remove and clean or just replace the valve.
 

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mine is doing the same thing except a lil while later it started blowing white smoke, i will see what it is im studding and deleting it right now.
 

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When you pulled the ICP harness, did you take it apart to check for shorts in the wiring?
 
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