I'm no expert, but I want to say yes. From what I understand fuel pressure has to be regulated for the injectors to work properly. Even though it drives fine, but idles rough there could still be a problem. It could be too high from not being regulated properly, and simply evens out when driving. I have an 2005 and would be happy to check the fuel pressure, but I don't have a code scanner with live data.

From what I understand, if it didn't have fuel pressure it shouldn't even idle/run. Or if it does, it would studder and die as soon as you tried to rev the engine.

Just my two cents.

-Andrew B.