During a recent cold snap, I have had a very rough idle when cold & I suspect the Idle control valve. The trouble code is po153.
Since it gas gotten warmer, this issue has stopped.
I continue to read & search but maybe someone can chime in?
O2 sensor history is unknown at this point..
Oh, it is a '99 with the 4.6

 

https://www.obd-codes.com/p0153

Not related to the IAC.

However, pull the IAC, spray it out with WD-40 and work the plunger with a small screwdriver, see if that helps.

 

Code 153 is a 'lazy' acting Ox sensor bank 2-1.
Only way to determine if it should be replaced is monitoring for action. The PCM already does this and finds it too slow out of program limits and sets the code.
If contaminated, it won't recover and affects fuel control for that bank because it has to respond to Ox level changes for every cylinder on that bank every time they fire. That's pretty fast action for a lazy sensor.
.
Rough idle can be a shifted long term fuel tables causing over richness.
A thermostat that is to cold. A temperature sensor out of limits etc.
An Intake Air Controller that is gummed up and or it's bleed hole is plugged with gum or carbon.
The bleed hole cannot be cleaned because it's not accessible from outside or inside
You really need to access the whole condition using a Scanner for more information to apply full corrective actions unless you just get lucky by 'doing' things.
The truck is 21 years old making good full diagnostics nearly mandatory at this point.
On modern vehicles of the last 25 years there is no real 'tune up' per sey but looking at data and addressing the issues seen aside from out right failures.
Good luck.

 

Here is a followup: With a new O2 sensor & a little carb cleaner in the IAC, all seems well. A few more miles should confirm things.
21 years & 115K, hard to complain...But an extra 50 horses would be nice

 

Carb cleaner won't lubricate the IAC. It's just going to start sticking again. You may have to replace it.

EDIT: Carb cleaner is also hard on the IAC diaphragm.