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I've seen a TSB that describes this problem. If Ken00's suggestions don't yield anything helpful, clean the IAC valve, throttle body, and the upper intake manifold.
Mine does the same thing, i'v had the iac off and cleaned it, put almost a whole can of intake cleaner through the throttle body, changed the plugs, cap, rotor, wires, coil, fuel filter, and even the tps. (not all because of this problem). I'm thinking now It's a vacum leak i cant find or either the fuel pump or the fuel pressure regulator.
