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Try these things to try to narrow down the problem. To confirm that the problem is only after a restart after the car is warmed up and not when it is just restarted, start the car cold and let it idle for a minute and then shut it off and then restart. Next you said that after a warm restart, it would idle rough when put in gear. Does this mean that it idles OK until it it put in gear or does it idle rough before and after it is put in gear. I could be the EGR valve could be sticking or the EGR sensor could be bad. You could try to run the car for a day with the vacuum to the EGR valve disconnected and see if it runs OK. Dont forget to plug the disconnected vacuum lines.
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