I had the same trouble with my 93 Trooper.
I went on a sensor-changing spree.
The one sensor that fixed this idle problem was the throttle position sensor.
You can get one here.
Throttle Position Sensor
It's very easy to change, and fixes the problem instantly.
Good luck.
Here's another device that may be affecting your idle.
Idle Air Control Valve
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idling too fast
when i turn the heater fan on the idle keeps surging
the idle surges up and down.then it will rev up to 2000 rpms and stay,until i go and stop again . sometimes turning the fan switch on makes it surge to
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