Well, I spoke too soon. The misfire is back. So strange, because it entirely disappeared for about 100 miles. I could idle with no misfires, but it's now back to misfiring at idle.
To recap:
At idle I will get about 150 misfires per minute (using OBD2)
At highway speeds the misfires disappear entirely (OBD2 still connected)
When idling the misfires appear to grow in intensity over time. Check engine light will come on eventually and I've had the traction warning appear as well.
Replaced coil packs, plugs, wires, injectors
Compression test on the misfiring cylinder is excellent and same as the other cylinders
Cleaned the intakes carefully (I cleaned with walnut shell blasting and then seafoam with a brush on the valve stem and valve opening), and after doing so the misfire disappeared entirely... for about 100 miles, or about 10-20 minutes of idling... I idled a lot just because I was so amazed that the problem was gone
I was (happily) surprised that the cleaning had an effect, sadly, it didn't last long. This makes me wonder if I'm having a problem with the lifters/springs? Maybe the valve in this cylinder isn't sealing tightly/quickly? I'm probably talking gibberish, as this is by far the most I've ever worked on a modern 4 stroke engine.
As KARNUT says, I should probably take to another shop, but the high miles (220k) seems to make them go towards replacement and I feel this engine has a lot of life left on it. It runs great at highway speeds and under load and the cylinder compression tests are all basically at factory specs.