I am having the exactly the same problem as you are with my 87 740T. I too have eliminated the possibility of a vacuum leak. I have run injector cleaner through the tank many times with no improvement. I even pulled the injectors and the rail off and checked the spray pattern and it looked good. The compression is an even 145-150 across all 4 cylinders.
I 'borrowed' the distributor, coil. ignition wires and IAC from my friends 740T that idles as smooth as silk, but no change... My idle seems to miss more when the engine is warm or when the car sits at idle for a longer time.
The funny thing is that my car accelerates better than my friends 740T. And just as you said, my car has no miss or performance problems at highway speed...
I have replaced the normal tune items, such as plugs, cap, rotor, wires, air filter. I have cleaned the TB, IAC, PCV, and I replaced the intake & exhaust manifold gaskets. In addition I have replaced the engine wiring harness and ECU.
All of the above in the last 6 months or so...
I too am thinking that perhaps my O2 sensor may be defective. Or perhaps the Ignition computer?
I would really like to solve this nagging problem...
JJ
87 745T - 255K miles
JJ
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