I'd pull and inspect all 6 plugs.

I replaced spark plugs and coil packs less than a month ago and nothing has changed

Ok but how do the plugs actually look? Are they all consistently the same color? What color? Any deposit? Any that are wet? One that's black or orange? Reading the plugs will tell you a lot about what kind of misfire it has, too much fuel, not enough, just one cylinder, etc.

Does this happen if you start the car and immediately drive on a cold engine? Only when hot? What happens if you give it a LOT of throttle from a stop?

Is there any condition you can get it to drive and feel normally?

which cylinder was the misfire on? or was it a random p0300? what are your long-term fuel trims are showing?

this hesitation only happens during a take-off? going wot has full power?

Ok next thing I'd check is the engine-chassis bonding jumper. It's attached to the timing chain cover on the right side and lands on the chassis near it. It's a 1-hole lug on the timing chain cover, 2-hole lug on the chassis side. It's a larger gauge wire, if that ground is dirty it basically throws all the electronics off for engine controls.

If that doesn't do it go over everything with a can of throttle body cleaner to see if you can get it to drop idle while running. Basically just checking for a vacuum leak but I'm not thinking this is the issue because you can stomp the throttle and it works, usually if there was a vacuum leak it would sort of have a delay/lag before taking off.

If it's not a grounding issue and not a vacuum leak then I'd definitely start suspecting your upstream O2 sensors. As they age they get lazy, normally not enough to throwing codes unless the heater inside it burns up though.

Has it had any hard starts? Like you had to crank it for longer to get it to start?

Hi, so I still have the slight hesitation at take off and my idle seems a bit erratic once up to operating temp. I tried to make appt for Infiniti dealership that is closest to me (2 1/2 hours away) and they told me they wont work on it since its a 2007, gees. They did say that independent shops should have the tool to re-flash ecu, does anybody know for sure if it can be done outside Infiniti?
This is driving me crazy, all because the battery was disconnected for a day, never seen a car do this before....

The dealership you called probably doesn't carry the Consult-III programming module for that car anymore. I think it still uses the card-based modules like Consult-II.

Call around to local shops and ask, doesn't hurt to make a phone call.

Alternately you could find a local UpRev tuner to do it, or talk to @seymore4 about e-tuning your car.

Thank you, I am trying to find someone to re-flash besides dealer

I can reflash with uprev

Thanks but I have the car in Florida now

Doesn't matter, we do it over email

Over email? How much is it and have you seen this same problem and it fixes it? Thanks

Yes, we send you the Uprev kit which includes a OBD2-USB cord so you can connect your laptop and upload the file we send. Then you just record datalogs while driving around so we can see how its running and dial it in. Total cost is around $600

I found a dealer to reflash for $160 a couple hundred miles away. What else does the uprev do for the car besides fix this hesitation?