I did this a couple days ago and I have not had an idle problem since. I must say, once I got the IACV out, it was quite dirty and I could tell how the valve would stick. After about 10 minutes of cleaning, it looked great. Total time taking off, cleaning, and putting back on, I had 1 hour in it.
Much thanks to you all for the help and instructions. I saved about $350 (local Toyota dealer).
Russell