Idles rough and is hard to start apears to run better after it warms up. Have replaced the ICO, TPS, and the map sensors with no effect.

Check for

vacuum leaks on intake manifold,

the air tube between the air filter.

intake manifold vacuum hose.

===
clean throttle plate with Berryman carburator cleaner

SEE sample picture HERE
===

Also remove carbon built up behind the EGR valve and the EGR passage tube.

===

Vacuum leak WILL offset the intended 14.7 to 1 air fuel ratio.

More un-metered air (leaks) will lean out the fuel mixture.

Use small amount of Berryman carb clearer at potential air leak area will help you identify trouble spot.

At idle,just spray and listen for the RPM surge.

The in-rush of carb clearer will increase the RPM on the motor.

Record the problem spot(s) and address it later.

===

EGR carbon built up require 2+ hours to clean from start to finish.

You will need a new EGR base gasket before your start.

Locate and remove the EGR valve after the vehicle is cool down.

Carefully record the connector and vacuum line (for older vehicle) location by drawing an easily to follow diagram.

Remove the EGR valve.

Inspect the location of the carbon built-up inside the valve and the EGR passage tube.

SOAK these areas with WD-40 spary.

You will need a small screwdriver,cloth hanger and lot of newspaper and time to get this cleaning done right.

RE-SOAK the carbon and let it sit for over-night will also help.

One the last round,pass a shop vacuum of the EGR valve and the passage pipe.

Install the new EGR gasket and connectors.

Allow the vehicle to warm up outdoor to burn up any remaining WD-40.


Take it for a test drive.


Please rate my answer if it's useful to you.


Cheers,

Mustgo

Start simple, change spark plugs and wires.

You can clean the EGR. No promise it will work. I have an idle problem on my `97 Grand Am Se. Shop told me I could clean it and it might solve my problem. 
Just remove the EGR with the 2 bolts from the top of the manifold behind the throttle body if you have a 3.4 v6 like I do. Then leave it upside down with throttle body cleaner in it. Fill the EGR level with cleaner and let it soak for at least 30 min or more. Then reinstall. 
This will remove any carbon on the inside which plugs the needle from pushing out at highway speeds. Hope this helps. If the problem returns in a week or so then replace with new EGR. New EGR is about $100-200! Cleaning seems to have helped my car did that about 3 weeks ago.
If you have a service engine light on turn the key to the run position on the ignition, pull the fuse to the ECM (batt) and disconnect the wire harness to the EGR. Reinstall it after a 1 min, That will clear all the codes in the ECM and reset everything.
Once you place the ECM fuse back in, start the car. It may stall but let it, DO NOT TOUCH ANY THING. The ECM need to relearn the EGR and engine from all it's sensors like the first time it was started. Just start it up again and it should be like the day it came off the assembly line and will relearn everything.
Good luck and just drive it like you always. If you decide to change the EGR valve, you still need to clear the ECM as mentioned above for the ECM to relearn the new EGR valve. Hope this helps and keep me posted.