I have had three Tauruses over the years. Every one at one point or other had one or all of the above symptoms. Every time they were cured by simply cleaning the throttle body. The throttle plate and the bore around it get really gummed up. Now Ford put a sticker on that says not to clean it. How in the hell can you leave all this crap on there with all the problems it causes.
I clean mine anyway!
Clean! Don't turn the idle screw!