My 69 Dart slant six ran like that for decades, thru multiple carburetors, intake manifold (suspected vacuum leak), head jobs, and electronic ignition mod. When still idled bad after a whole new long block, I tried a ~4th carburetor and it ran amazingly smooth and never fumbled when shifted from P to D. So, it was (many) bad carbs. I think they all idled too lean.
That was a Holley 1920 single barrel, with only 1 idle mixture screw, so unlikely I mis-adjusted it. I tried rebuilding some, but they had a sealed metering block so no way me or any rebuilder could know it was OK. Over the years, I had taken it to various mechanics who guessed "bad valves", "vacuum leak", etc., took my money but no fix.
Besides rebuilding or replacing the carb, consider installing an O2 sensor. You need to weld a bung in the exhaust pipe(s), but any muffler shop can do that. You can get a simple Holley or MSD lean/rich indicator box on ebay ($130 new, $25 used). Or maybe weld 2 bungs for a regular and a wide-band sensor, since the later is more useful and getting affordable (I have one). You can then calibrate the wideband to the regular. Without an O2 sensor you are "flying blind". I have a regular one on my Newport w/ Holley Pro-jection and constantly have to tweak the controller knob to adjust rich/lean since the Holley box is pretty primitive. I know well how it runs when too lean (stumbles) or rich (slows gradually then dies).