OK, only the vid and your recent symptoms appear nearly identical. So, issue with warmed up. A smart guy might come in and know exactly what circuits are on with closed loop. And, EGR is already replaced so I'd be heading to spray the intake for leaks and eyeballing vacuum lines. Basically, anything that's opened up (and leaking more) when warm. You might pour over "warm off-idle stumble" for possibly the related inverse of what you got.Black, in the video the car would stall (or attempt to) when driving around at idle in slow speeds. A new Idle Air Control Valve solved that issue, although I did replace the EGR as well.
This one just happens on start of a warm engine.
Again, I'm filling time until a real answer shows here.
I had reason to replace the TPS years ago at 150,XXX and recall it helped whatever problem I was having at the time.