2004 Ford Ranger 2.0 with an intermittent miss at idle. Happens at slow down to stop after cruse at speed. ?

I have changed coil pack wires and plugs. I have taken it to Ford and a good shop. The problem being the fact it never does it at the shop. I just drove it 200 miles to a good shop. It did it 2 times on slow down for red lights on way. Did not do it wile there all day. Scan gave a #4 miss. This has been going on over a year. The eng light will flash wile it is missing and will stay on after it does it. Then in a day or so on start up it will have gone out. I drive 40 miles to work every day. Some days it never happens. Some days it will happen at the tole both and at slow down to first light at destination. You will think it's going to quit. But as you gas it to take off it will catch and not miss on rev up and cruse at in town speeds. Nut if you stop for a light it may do fine it may start to miss with eng light flashing. I am getteng tired of trying to figure it out. I do not do all I need to do with the truck. I am about ready to trade. I hate trading a truck with 50k miles My last ranger went over 300,000.