Most low idle speed problems on these engines are due to a faulty idle air control valve but since you state the idle will go up and return to idle then i would say it is working properly i think you have a throttle body coking problem ( dirt and grit accumulates around the butterfly valve in the throttlebody ) to fix this simply remove the fresh air hose from the throttlebody and open the throttle all the way up use a clen rag and wipe clean you may use a solvent such as B12 on the rag but dont use too much
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