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Update on this for anyone who may run into similar issues.
Had the injectors cleaned and spray pattern checked. Also installed new injector seals. Replaced a bunch of vacuum hoses, loose bolts etc - no improvement - The only thing that did change was that the error code was no longer showing up.
Spent more time digging and found that some of the hydraulic lifters on both the intake and the exhaust side had collapsed. Rocker arms were visibly extremely loose on multiple cylinders. Error message makes sense now as the description mentioned not enough air entering the cylinder at idle. Collapsed lifters would mean that the valves weren't opening fully.
Relieved the issue is finally sorted! Everything running perfectly now
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