Intermittent hesitation on acceleration

I am having an intermittent problem with my car when I take off from a stop. Sometimes it will hesitate a few times or just once as I accelerate and then it will go fine.

Today I found out that it also happens in park, which should rule out a transmission problem. If I press the throttle with my finger you can hear the engine rev up and down a few times and then rev up fine, this is exactly what happens when I am driving.

I have had this problem since 2017, but it comes and goes. I have taken it to mechanics and they don't know, it does not have a check engine light.

Over the last few years since this problem started I have changed the fuel pump, filter, pressure regulator, cleaned injectors, EGR valve, IAC valve, TPS, among other things (regular maintenance). This car has been my daily driver for the last 20 years and has been well taken care of. I don't know what to do.

You can hear the problem in this video: https://www.youtube.com/watch?v=knsYbrmMTGk

Thank you.