Slight miss at idle

[Spetz]

I have a slight miss at idle.
It is mostly felt in N or P, not so much in D.
It idles fine but every 30 seconds or so a jolt is felt and the revs seem to drop slightly.
Spark plugs are 2 years old, 2,000 miles or so.
Leads never changed.
O2 sensor never changed
Fuel filter never changed to my knowledge.
62,000 miles, E220C (M111.960)

Thanks