So I have done some research and I read the TSB regarding this issue which is what is confusing me. I have an 04 F150 FX4 with the 5.4. It has about 142k miles and seems to run great over 2000rpm. No engine light on and I have a very bad rough idle when the truck is all warmed up. Also it sounds like a diesel but the noise is louder from the passenger wheel well than the driver side. According to the TSB I should be replacing my cam phasers however I have read online that some people have replaced just the solenoids and the noise went away. I doubt I have sludge build up because the previous owner claims to only have used Mobil 1 since he bought it with 89k miles on it. Also when I first start the truck up there is no noise or rough idle, it only happens once the truck is warmed.

I was ready to order a cam phaser for the passenger side until I did more reading now I am not sure if I should try the solenoids first.