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I've got a similar problem on my 93 945t, except mine generally only does it when warmed up. Its also alot more pronounced in park than in drive, There are a few likley suspects to eliminate such as:
Dirty throttle body
Dirty or sticking idle air control
Vacuum leaks
Adjustment/testing of throttle position switch
I've done all of the above except testing the throttle pos. switch. I've also got a new intake gasket to install. If neither of these work I'll be trying to test some other possibilities like the resistor pack, power stage or O2 sensor.
Its been driving me nuts trying to figure it out and since this is my busy season at work I havent had the time to really dig into it so like you I'm hoping one of our fellow brickboarders can steer me in the right direction.
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