The idle speed is controlled by an Idle Speed Control (IAC). This is located on the lower part of the throttle body. The most likely thing that is happening is that it is sticking. The first thing I would do is clean your throttle body with carburetor cleaner. Some of the cleaner will pass through the IAC. If that doesn't help you can clean the IAC by removing it, but you will probably need to remove the throttle body. It is possible that the IAC has an intermittent open circuit. If that is the case you will need to replace it.
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