Rough idle when cold

Hello, I have a 2007 Taco with a 4.0. It’s 4wd In case that matters. I’ve been having an issue with it idling rough on start up. It’s worse when it’s cold, obviously. The problem has been going on a few months.
I hook up the OBD tool and it says bank 1 and bank 2 O2 sensors are lean. I’m also getting a random misfire code. I assume it’s only because it’s running lean. Because I’ve only more recently seen the misfire code. My scan tool says the O2 sensor test doesn’t work on my vehicle since it’s a CAN vehicle. So I do an On-board test. I’m uploading a pic of the O2 sensor portion. 2 of the readings are way high.
So my question is are these readings a “sure fire” answer to 2 bad sensors(Bank 1 and 2 upstream)? Or can some thing else cause these high readings? I’ve also recently replaced the spark plugs, examined the coil packs, checked for vaccu

 

Sensor 1 is an A/F wide band sensor
Sensor 2 is a typical/standard O2.

They operate differently. You can’t compare the 2 voltages.
You need to graph the sensors to know if they are working correctly.

FWIW, I think the Tacoma uses a 3.3v reference signal on the A/F Senors.
Which looks about right according to your scanner.

Basically, what I’m saying is, I can’t tell anything from your data.
There are a lot of guys on here that are really good with emissions stuff, maybe they can help you better.

 

Hard to tell with just 1 snapshot but everything looks good in that one.
Downstream sensors are right at 800mv (700-850mv is normal once the converters start working)
I can't remember exactly what the center (Stoichiometeric) voltage is supposed to be on Toyota for the AFR (Upstream) Sensors but that looks about right.
Equivalence (Lambda) ratio is right (1 is Stoichiometric, numbers over 1 are lean, numbers below 1 are rich).

I would want to see misfires on each cylinder (not sure if your scanner supports that or not) and see which cylinder(s) are misfiring to see if it's picking on certain cylinders, one bank or another , or all of them.
Also short and long term fuel trims would be good to look at if you suspect a vacuum leak (+/- 10% total trim (long term + short term) is considered normal)

 

I checked the misfires on each cylinder 7,5,6,0,7,2 in order. are the misfire counts. I cleared the data yesterday. I put maybe 10 miles on it and idled for 30 min. Since I cleared it.(tested today). I watched the EQ ratios live and they hovered right at 1.0. I’m gonna let the data build up again and then check the misfire count again. Thanks everyone for their responses. I’ll keep the post updated for reference.

 

Update:
I’ve reviewed the misfire data and nothing stands out. Very few misfires detected. I’m posting pictures of the fuel trim data. The last 2 pictures are at idle. One open and one closed I assume. When the short terms are negative, it’s idling lower. The 2nd pic is at 1500 rpm. The 1st pic is at 2500rpm. Does anyone see anything out of the ordinary. These numbers are like Chinese to me. Thanks in advance.

 

They are definitely higher than they should be (should be +/- 10%), I would suspect a dirty maf or vacuum leak.
I bet it idles rough on startup until it goes into closed loop.
Do you have a stock intake and air filter?

 

The intake is stock. Just a paper filter from Advance. The screw that holds the intake to the MAF was not tight, not loose. I tightened it back up a couple weeks ago and it didn’t change anything. Maybe some carbon got in the MAF that way. I’ll check that next. Thank you!