Rough Idle and Jerk

Hey all . . . I was hoping someone could help me figure out what could be causing this. My 2006 automatic v6 prerunner 2wd is at 56k miles, I haven't done any major tuneups with the exception of oil changes at regular intervals along with air filter. My truck now typically idles at around 500rpm and is kind of rough. While pumping the break pedal 5-6 times and holding it, the rpm goes up an additional 200 rpm. When I release the brake pedal, it will return to 500rpm. Also, occasionally it will jerk when returning to 500 rpm. All of this happens when in drive.

P.S. once in a while when I release the brakes from a stop, the truck will jerk right when my foot comes off the pedal. . . not sure what is causing this either.