I had the same problem with my gauge when the diff speed sensor was flaking out. But the speedo would also hesitate as it swept across the gauge face.
Did you check the coolant temp sensor or the air temp sensor? Might be the O2 as well. I think what's going on is that once the car is warmed up, one of those senors is still reporting full cold; the injection keeps it rich, and you get spark plug misfires. Alternatively, the O2 isn't reporting the right exhaust mix. If the problem goes away at WOT, it's likely not the O2 sensor though.
A cheap test is to look at the plugs and see if they're black & sooty with fuel deposits.