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My Jeep Grand Cheroke Limited 2000 did the same thing and the dealer replaced the O2 sensor and problem was solved. It about drove me crazy until it was figured out.
high idle could be caused by air inlet duct collapsed loose or air filter element clogged,idle air control valve failed,idle air inlet passage or throttle bore is dirty full of deposit,mass air flow is dirty out of calibration,throttle plate throttle shaft or linkage is damaged or leaking.have vechicle code scan first before buying new parts.
Take the idle air control valve off and clean the carbon out of it with a non-chlronated brake ceaner then let dry 10 minutes and re-install.Reset the computer afterwards by disconnecting the ground cable on the battery for 30 seconds then re-install.
I would start with ect. That is the engine coolant temperature (sensor). That sensor monitors the coolant temp and tells the computer to increase engine RPM so the engine warms up faster. In the mornings when you first start your car and it idols high, that sensor is sending that information. If you have a code for this sensor start there.
most likely the idle air control motor needs removed and cleaned , also clean where it mounts. you can use carb, cleaner to clean valve. but do not push on needle valve on end, cause it is preset for correct idle. an old toothbrush or similar will work to clean the valve. do not put valve body in any liquid to clean. it should run between 650 and 700 rpms in drive.
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