(B58) Engine stutters/stumbles randomly while idling. What could be the cause? How would I self diagnose?

This stutter at idle happens randomly and with or without the AC on. Only noticed it during idle, the car will stutter or have a rough idle for a quick second and return to normal. And I’ve only noticed it when the car is at a full stop, while driving it feels normal.

Is this likely vanos related (solenoids)? What could cause this?

Appreciate the help