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When they were cleaned were the throttle body adjustments checked and set up correctly? That is considered part of the cleaning job. Adjustments include throttle position switch, throttle plate stop screw, base idle speed.
It may well be that the throttle body was due for a cleaning and should have been done anyway. The next step and the always the first step is to diagnose the problem then correct it.
What is your idle speed after starting and still in neutral? What is idle speed after warm up, neutral and in gear? Does idle speed jump up with AC on? How is throttle response when cold?
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