Idling leads to stall

2000 Lexus SC300 starts fine, then rough idles a few seconds and car stalls. At traffic lights, I need to put in neutral and stay on gas a bit to keep from stalling. Does this either on warm starts coming from getting groceries or cold start out of the garage in the morning. Check Engine light does not come on for this issue. Car drives great. Problem only shows at idle.

Clean the throttle body and the idle air control valve passages. If that doesn’t fix it, replace the idle air control valve.

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OP, looks like this:

iac

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Does it just quit or does the engine RPM drop too low first and then it stalls?

What if you put your foot on the throttle slightly?