If the EGR has some crap in the valve seat keeping it open it will definitely screw with your idle.
Plug off the vacuum hose for the EGR and see if it helps any. It should run just fine without an EGR, unless like I said the valve isn't closed all the way.
Different models of EGR, some you can see the rod between the valve and the diaphragm. You may be able to grab that rod with a pair of needle nosed pliers and twist it some and maybe work it up and down a little.
I've actually been able to get my finger tip on the diaphragm and work it up and down a little. Had one were the rod was jammed holding the valve open and moving the diaphragm a little unjammed it.
Like I said different manufacturers for the EGR some are partially open and you can see the rod some you can't.
Unable to think of anything better, I lubricated the rod and valve with graphite. Cooper high temp grease may have worked just as well.
Everything Blondejon recommended is relevant and something you are likely to need to do. It may not be one problem you have, but a collection of little things that add up. I eventually fixed my idle, but it was incremental, small improvements as I serviced corroded connectors and iffy grounds.
Finding a new gasket for the EGR may be impossible. Removing the bolts and you are likely to snap one off. I removed mine really gingerly, heat and lots of penetrating oil, more heat and more oil, wiggle a little and do it all again, then finally hold your breath and give them a good twist. I got my EGR piston to seat properly, blocked the vacuum line off and drove it that way until it was time for a new intake exhaust gasket and then fixed my EGR. A whole lot easier that way. If your diaphragm is deteriorated (leaking) the EGR is junk, mine was just jammed.
The vacuum solenoid for the EGR is a known trouble spot, the connectors get really crispy from old age and disintegrate. No power to the vacuum solenoid and it is open (normally open) and you have vacuum continuously to the EGR. When the EGR is open the motor idles bad and is likely to stall at low RPM's when this happens. The EGR is designed to only open at cruising speeds or simply put, RPM's higher than idle.