2003 Escape starting problems

3.0L V6 with just over 100K miles starts hard intermitantly. Normally turn the key and off it goes however recently it won't start unless the accelerater pedal is depressed. Again this is intermittant, sometimes it pops right off with no issue. So far it has always started but the problem seems to be getting more frequent. Battery and starter seem strong as the engine turns over fine. Fuel pump can be heard when the key is turned on and shuts off within a reasonable amount of time as expected.

I have not much experience working on Ford vehicles, much more of a GM person. I do have a code scanner which revealed no codes except the gas cap code which has been burning for a couple of years. I did notice that the throtle position sensor was reading 18% at idle. This seems strange to me but the idle speed seemed reasonable (less than 1000rpm). At full throtle the TPS read 99.5% as I would expect. I know that GM TPS reads about 0.4% at idle and 100% at full throtle. Should Ford TPS give similar readings at idle? I've also searched posts regarding cleaning the IAC, cleaning the throttle plate and replacing the crankshaft position sensor, any recomendations? Any comments on the TPS 18% at idle?
Thanks,

I would suspect a bad MAF sensor, try cleaning MAF sensor , IACT sensor, and connector with CRC MAF sensor cleaner.