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Does it start ok? could be a bad EGR valve.
If the ECM is having trouble, you may try disconnecting the battery for 5 or 10 minutes. This will force the ECM to loose all of its learned information, reset the IAC, reset the fuel pulse width to default, etc. Although if the ECM isn't setting any codes, I doubt it is the root cause of the problem. They are usually pretty good about detecting errors that relate to idle problems (or any thing else that could impact emissions)
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