Here's some information on how to trouble shooting IAC/idle.
Troubleshoot IAC idle problems 1996-2004
Back to the basics. Check for blown fuses. Especially fuse F2.2 and F2.8 in the Central Junction Box (CJB 1999-2004 MY). Confirm key on power using a known good ground. 1999-2004 MY fuse panel schedule...
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Start with a through review of the battery and charging system. Why is this important? Because if the battery voltage is unstable this will cause the PCM to "forget" the adaptive idle trim values.
Howto perform charging system voltage drop test
To anyone else reading any of my posts I usually include the line: Today's cars simply will not run right without a strong battery and charging system! Cut corners here at your own risk I'm a big believer in starting with the basics. As such I...
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In the how to, pay attention to the part about how the TPS is used to form a "ratch" function. As well as how the TPS is used to compute the TP-MODE
To truly trouble shoot this issue an ODB2 scanner could make short work of this problem. Here's some information on an affordable Windows unit.
ForScan ODB2 scanner w ELM327 USB
While working on your car have you ever wanted: to find an ODB2 operational PID value (say fuel pressure or MAF)? How about graph a PID value over time? Or compare multiple PID's over time? Access a bi-directional PCM control such as test a...
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Do you want an educated WAG? How about a loose throttle body butterfly. Such that when the motor starts up the motor's vacuum is pulling in the butterfly thus changing it's position. There's a delay as the IAC adjusts the idle.
Bottom line. The throttle position MUST remain stable when the throttle is closed. The voltage of the TPS does not matter. What is important is for the TPS to send the SAME value each time the throttle is closed.