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There is not much information here because different automobiles can the same symptom with a totally different cause. Giving it my best guest I would say that you have a leaking fuel pressure regulator the engine can handle the extra fuel when driving but run much too rich when idling.

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Q: What causes rough idle after your car has set at an idle for 10 to 15 minutes and then dies and will start back up in about 20 minutes?
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