2004 Dodge Grand Caravan P0030 Fault Code: Misfire Diagnosis and Solutions

I own a 2004 Dodge Grand Caravan Anniversary model and have performed extensive troubleshooting on this vehicle. I've replaced the oxygen sensor, spark plugs, ignition wires, temperature control sensor, PVC valve, and O2 sensor. I've also cleaned the fuel injectors and checked for vacuum leaks. The engine code P0030 returns repeatedly even after clearing it. I did not replace the crankshaft position sensor (though I have replaced the camshaft position sensor). The engine runs fine under load but exhibits a slight misfire only at idle. This issue is particularly noticeable when idling, though performance improves while driving. I've also cleaned the MAP sensor with no improvement. Despite all these efforts, the P0030 code persists. Can anyone provide insight or a confirmed solution for this recurring fault on my 2004 Dodge Grand Caravan?