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That is an issue with the actuator motor and ECU not seeing the throttle plate going back to the reset position.

Have you looked at the position and condition of the throttle plate? Remove the inlet tube and see what the plate looks like.

You may just have to do a throttle body cleaning and then do the idle learn procedure. There could be some carbon build up or something stuck on the throttle body or plate not allowing it to fully close. Worse case would be that there is a tooth or two missing inside the throttle actuator box.

Here is a link to the idle learn procedure; Idle learn procedure

I had this happen once in the winter after we had a rainy day followed immediately buy a -20c day. Ice formed on my throttle plate and threw these codes.
 
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