I had the exact same problem with the exact same Van. I simply adjusted the throttle cable under the hood. So that instead of trying to idle around 350rpm, it is now idling between 500-550rpm. Hope this helps.
*I did, at first, change the Mass Airflow Sensor and new Air filter. That seemed to help a bit, but I would still get low idle code. And it wouldn't idle until the engine warmed up. After adjusting the Throttle cable, I've had no more issues.
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