2002 Honda accord 220K runs good at speed but idles at traffic lights rough. Only in drive. Worse with AC on.

Try to remove and clean the Idle Air Control Valve (IACV), especially the inside screen. If you are careful, you should be able to reuse the O-ring. I would also use throttle body cleaner and spray the throttle plate and throttle body, being sure to clean the upper and lower ports. Afterwards, adjust the idle speed to spec. Ensure the spark plugs (NGK only) have been changed in the last 3 years.