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You have to go through the TPS (throttle position switch) adjustment procedure. That procedure is where you set the base idle speed and the TPS position. It is not hard to do. You should really follow the procedure in the manual. There are several steps to it. You will need a digital volt meter (DVM) as well. Dont try to move the throttle stop adjusting screw expecting the idle to raise. The computer will control the idle speed anyway and moving the screw will only mess up the TPS adjustment.
While doing this you might as well remove the TB and give it and the IAC pintle and seat a good cleaning. It will run like a different car when you are done.
If you are having idle problems try cleaning out the TB on the car. Not as good but will help a little.
While cleaning and making sure that the TB is adjusted correctly. That won't effectively raise the idle speed. The idle speed is determined by what is programmed into you PROM or the CHIP as some call it. Now you can increase the idle speed by adjusting the idle stop adjustment on the side of the Throttle body, but it's really a bandaid in doing it this way. What you are doing is making an adjustment (opening the throttle) to a point where the IAC cannot control anymore. To really do this correctly you would need a custom burned PROM.