I have 2001 kia, did the same thing, changed oxygen sensor, air filter, changed gas grade, oil change, FINALLY, got it figured out, no check engine light, till 1 day poof it was there, took it to autozone, code p0304, misfire in 4 (common misfires in kias) pulled #4 spark plug, major oil, pulled off valve cover, it was the gasket. Someone didn't put in on right, all fixed and no almost stalling or idling issues at stop lights.
Good luck.......
Idle controal thingy, is normally the last thing, as been told by KIA, but then again, they told me the o2 sensor and they were way off..........
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