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But thanks to this forum I found out a common problem was the thermostat and waterpump. I replaced the thermostat (very easy) and although it helped at first somewhat, the problem came back.
I just replaced the waterpump and WOW, it was coming apart internally!!! I couldn't believe it even worked at all! I am going to show it to the dealer so they can help future customers with the same problem. I drove the car for about 10 miles and it has not idled roughly at all. Hopefully this is the real fix!
Thanks again to all for all of your advice!