Sounds like the IAC valve is carboned up. This valve can usually be removed easily with 1 connector and 2 bolts. It is how the engine controls the idle speed. Many times a can of carb cleaner and working the piston back and forth on it will free it up for many more miles.
Turn on the a/c at idle. does the idle speed change?
THe TPS is at fault Get a new one and install it on the throttle body. 3 wires goes to it
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