When was the last time you had the belts changed on your kia. By 60-70,000 miles they should be changed they could be loose or cracking. If not problem check to see if the oil in vehicle is good and check for any oil leaks. What happens there which I hope isn't the case for you but if it is leaking could be a valve or gasket which is causing it to idle rough which can affect you idle sensor with the vibration. Have a mechanic do a quick check of these things.
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