Infiniti G35 2008 when warmed up... stalls at low speeds and hesitates at takeoff

I’ve read so much on this my brain hurts!  
Here is what happened with my G35x back in
Dec. 2018
Before December 2018 The car started
stalling occasionally at a very low speed such
as driving through a parking lot. This would
only happen every few weeks to month.

Then we went to eat and came out and both
the headlights and tail lights were on and the
car battery wouldn’t turn over.  The car was
acting like it was on but it wasn’t on.  The
LIGHT SWITCH was off and no matter what
we did the lights would NOT turn off.  It was
confused and wouldn’t do anything different.
(wouldn’t turn on or off) so we unhooked the
battery. We went and got our other car, came
back and hooked the battery back up and
the battery had almost recharged but
wouldn’t quite start so we jumpstarted it.  
Had the battery tested and it was good.

Then the stalling at low speeds got worse.
Only once the car warmed up. It would do
here and there such as in a parking lot or on
the highway as I’d come up to a red light.  
The bad thing is it isn’t when your fully
stopped so the person behind you isn’t
expecting this.  You have to stop, put it in
park, brake on to start again.

Then the barista room when taking off started
and sometimes would stall out or rpms would
stop really low.

Then it went through a phase where putting it
in reverse would make it die over and over
every time you tried to put it in reverse.

We replaced the PCV, nothing changed. We
did the idle air column learning. We had a car
guy look at it and he said to take it to the
dealership to have them reprogram it but
that’s $400.

We tried again the idle air column learning
and still having problems. I’m terrified to drive
the car!  

Has anyone found a solution for this?