When was the last time the fuel filter was changed?? Could also be a problem with the lift pump getting weak and starving the pump slightly. Injectors could also be the culprit if they have high miles and just dribbling the fuel in until RPM is raised enough to get them to atomize the fuel half way decent. I had a similar issue with my 93 2wd that had 171k on the original injectors and didn't know they were bad until I had them pop tested and the guy was quite surprised that the truck was even running.
If it's only a temperature related issue, you could get a deep 1/4" drive socket and some long extensions and try to get to the low idle screw or turn up the fuel a little bit as suggested before since it is FAR easier to get to than the idle screw.