950 rpm is not good idle. It should be around 650. It is likely that your linkage is crusty, and not activating the idle switch. Do some tests first before you start swapping parts.

Take the air cleaner off and manually push the throttle linkage back to the rest position. Look to the idle switch (grey roller switch) and see it engaged.

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Eugene

10 E63 AMG
93 300te 4matic
07 BMW X3
14 Ford F-150 Fx2