You need to check your Idle Air Control (IAC) that is located on the throttle. When you change your transmission to a forward gear that gives the computer a signal and then the computer gives the IAC the signal in order for it to control the idle as needed, but if the IAC is damaged it wont work properly. I have had this problem in several cars in my shop and the cost of a rebuild IAC with the throttle is about $300, so good luck.
U may need to have ur idlein ajusted to specs
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