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If you do have a cold fast idle, the IAC or auxiliary air valve (as Toyota calls it on early models) is not your problem and testing the valve is pointless.
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my truck had a great high idle when cold, then after it warmed up, it would start to surge up and down. it was the aux air valve that was my problem. mine was plugged with an rtv bugger in the coolant line heading to the valve. no coolant flow=no valve worky.