These are notorious for this problem-a leaking intake gasket at #4-it can be verified by using a can of carb cleaner. Spray around #4 intake port, if the idle changes you have the same issue. Do NOT clean the throttle body on these cars, it is so sensitive that a 25 RPM change will set another code that you'll never get rid of unless you replace the entire throttle body. I work on my neighbor's Altima, there are no shortage of quirks with these cars. Here is a link specific to your issue, with owners who want a class action against Nissan:
http://www.obdii.com/ubb/Forum1/HTML/002735.html
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