RPM ticks to 500 every 30 seconds-ish

ItsAllGood

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Thought oil change would help..
Anyways. When my car is in idle (699-703RPM) its sounds okay, for a while. But every 20-30 seconds pass. The RPM needle bounces to about 550-600RPM then right away shoots to normal idle RPM. I can see on my handhelt diagnostic tool. The short term fuel trim goes from 0.0(when in normal idle), and after seconds pass by when the car hits to 550-600RPM i get a value from short term fuel trim -8.6 to -9.5. I also get a negative value from "IGN ADV (DEG)" when the car gets to 550-600RPM. Value is at -7.5 to -3.5.

Errors on my car is O2 sensor bank 1 lean 2, and a brake pressure sensor.

What do you guys think I should look for under the bonnet? How do I fix this?

Its an Audi A3, 3 door, 2004, 1.6 FSI