How many miles on it?
Might need to clean the intake on the throttle body. Take some carb cleaner spray and clean the inside of the throttle body. Both my Denali and H2 (both have the same engine) experience something similar to what you describe and a quick cleaning of the throttle body clears it up. The Denali will "lope" at idle when you first crank it, but the H2 doesn't when they need some cleaning.
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