Hi, i have same issue but i have fixed my own self. First of all check your engine RPM in idle without AC on. it should be around 700 to 750.
2- check your IAC idle air control value. TIP for test IAC value, disconnect AC relay or fuse , and turn on AC, if your engine RPM increases, its mean your IAC working fine. if no changes in RPM, you need to service IAC value sensor or replace. note here i consider your electric wiring from ECU to IAC is fine.
3- If IAC working and your engine RPM is increasing while disconnected compressor wires. now second test put back AC fuse or relay, check the RPM in idle with AC on, it should be around 750 to 850 max. , if RPM with on AC around 1000, you will have jerk while shifting from N to R or D, and on Break press, engine vibration. the reason is, Automatic transmission engagement ratio with RPM, at 1000, auto transmission is engaged, and when you press break, you are forcing engine to stop while automatic transmission in partially engaged with engine, and cause engine rpm down by break force. in such case you can also have failure your transmission.
Conclusion : the RPM should be about 700 to 800, in idle with AC and without AC, your can set engine RPM idle speed by loosen IAC value screw, and turning clock / anticlock . if required