Dealing with this same issue myself. I tried resetting adaptations by unplugging the battery for a few hours before I took the car in, there was no effect on the misfires. When I took the car to the dealer a few weeks ago, they replaced the Bank 2 injectors under warranty. The engine is a lot smoother now at startup and idle, but the engine is still stumbling occasionally at cold AND warm idle.
I've seen a few threads around where many people have experienced this same issue. I'm taking it back in to the dealer tomorrow morning, we'll see what the SA says.