Check for intake gasket leaks. We replace them very often on the Gen 3 pickups. We hook up a smoke machine to the intake and almost without fail, smoke will rise from below the intake. You could try spraying carb cleaner or starting fluid around the base of the intake and see if the idle comes up, but it doesn't seem to work as well as it did on old small block Chevys and such. Find a buddy who smokes, pop off the vacuum line to the fuel pressure regulator, and make him blow a cig or two into the line. Or find someone with a smoke machine, much easier!
It should shoot into closed loop very quickly with heated oxygen sensors, so you could also check your long term and short term fuel trims. The fuel trims might give you an insight into what is causing the problem, if it's adding fuel or taking it away.
I don't know if you have any scan tool or similar tool, but even the cheap ones that link with your phone will tell you a lot that can help. The intake leaks don't always set codes, when they do it's usually a lean code or even the MAF since it gets blamed for miscalculating air.
For checking the injectors, you can hold the tip of a screwdriver to the injector, then your ear on the handle. Should be a hard handle, not cushy. You will hear the injector tick and it's obvious if one of them isn't opening as well.
Lots of possibilities to cause a rough idle in cold weather, but I'd check the intakes first, we fix them constantly.
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