Everyone made some great points listed above.
If you suspect a restricted exhaust system, you could remove either o2 sensors to see if you have a better throttle response seeing as there would be an abittional hole for the exhaust gasses to flow out of.
If your using a vaccum gauge, as mentioned above anything from 18 to 22″ is good at idle. The needle has to be steady when you take your idle readings. Also, with an engine being basically an air pump, as you ‘goose’ the throttle, the vacuum should drop to near zero, then back upto its orginal reading. However, a restricted exhaust will cause the engine not to ‘breath’ and the vaccum gauge reading will be low and start to drop.
Some places also sell exhaust back pressure gauges that use the same hole as the o2 sensors. I would have to refer to my tech book but, i believe a reading over 1.7 psi is a sign of a restricted exhaust. (If anyone would like to correct me here, then please do S:)).
More food for thought is if an o2 sensor is stuck lean (refer to your fuel trims if you have a scan tool or even graphic of the o2 sensor voltage), if will cause very poor throttle response, rough idle and a shear strain with a load on the engine climbing a steeper gradient in the road.
But alas, first thing is first with the retrieval of any diagnostic trouble codes!