2000 ssei misses at idle after start up occasionally
 

Just like the title says, it idles rough sometimes after you start it, and at idle. Any idea's?

130k miles or so.

Scan it. It should log misfires.

Otherwise, there's a ton of possibilities. I'd usually attribute cold idle problems to the IAC. Might be a dirty TB or IAC piston/seal.

When was the last time you did a full tune up consisting of plugs, wires and possibly O2 sensors?

You really should scan it to narrow down what you are looking for, but plugs and wires would be the first on my list of things to get changed over if you don't remember ever changing them.

I would assume you have done at least one tune-up in those 130K miles so I would think that the O2 sensors are the problem unless you have replaced them.
With those kind of miles, cleaning the TB, replacing the PCV valve and verifying that the EGR is functioning properly are good places to look.