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1996 Jeep Cherokee Cold Idle Problem

My 1996 6cyl 4.0L Jeep Cherokee has been having a problem for a little while now. When the car hasn’t been driven for awhile (and not every time) when starting the engine, while in park, if I let my foot off the gas the car will stall, but if I rev the engine several times then quickly pop it into gear the car idles down to a normal idle and runs fine from then on in. I can even put the car back into park and it will still idle fine. I have shut the engine off to test very shortly after and tried to start back up but the problem happens again. Its only if I have driven it for awhile that it will idle without stalling on the start up. Recently for some reason It has bin sort of a stuttered start up. I don’t know if this is a sign of the problem getting worse. Any help would really be appreciated.

The problem might be with a defective/dirty Idle Air Control valve.

The IAC valve controls the engine idle at all conditions. If the IAC valve is defective/dirty it can fail to go the the proper position for the idle condition.