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Problem: Car starts up just fine when cold. Now here is the problem..
If I drive the car for about 15-20min, turn it off, turn it back on within 10-20mins. It idles like it wants to die. When I put in on drive it shakes like I stated before ( it wants to die.) Now if the car is off for about 4-8hrs, it starts and drives great..
Kinda sounds like a fuel pump on it's way out. Hook up a fuel pressure guage and monitor the pressure before start up (key on, engine off)...after start up and then again through it's "don't want to run" cycle.
The fuel pump is one idea but I would also pull the codes on it. Sounds like whenever the car is cold it runs fine but after it warms up it runs bad. Could be a sensor going bad somewhere that doesn't really effect the car until it warms up. Just an idea of where to start.