I have an 07 F150 with a 5.4, 133000 miles and it has a rough idle when first started. It seems to go away once I start driving.

Plugs and boots have been changed, no check engine lights. Also, milage seems to be down 1-2 mpg.

Any info is appreciated

 

I always recommend running a can of fuel injector clean in a tank of gas as the first line of defense. It's cheap, and even if it doesn't work you certainly aren't hurting anything. My favorite is Sea Foam, but there are plenty others out there, too. Wouldn't hurt to change your fuel filter and air filter if it's been a while, too. If none of that helps, you may want to clean your IAC.