Sounds like exhaust can timing is not correct at low RPMs, The intake/exhaust overlap is changed by the PCM by modulating the CPAS which then moves the cam Phaser and allows for low end torque, high end power and reduced emmisions by way of an "EGR" type scavenging.
I don't have experience with the I6, I would hope that others on here will report their experiences with low end torque issues.
From what I've read here and elsewhere, Most report that a dirty Throttle Body causes it's share of idle and low RPM issues, so removing and cleaning the backside of the TB is on top of the list of things to do.
Secondly I read about the CPAS issues, dirty, leaking, failed. (dirty/old oil is an issue with these too)
Lastly, the cam phaser itself causes a small number of issues.