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It sounds like you need to clean your throttle body or your throttle plate is not completely shut. The idle set screw should be set to keep the throttle plate shut, not to keep a constant idle. It could also be that the TPS is misaligned or not functioning.
My car did the same thing, where the rpm would sometimes drop really low and move between 400 and 700 rpm and change depending on the temperature. It turned out that this happened because the contact for the TPS had broken off behind the connector.
Good Luck, post back what you find,
Will
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1990 740 Turbo, on its way to stock specs, maybe beyond
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