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Check the wiring, contacts for corrosion, etc. It's true the ECU ignores input from the O2 sensors at idle, but it determines whether or not to use "idle" controls based on the TPS value. If the ECU isn't seeing the TPS as "fully closed," then it doesn't run the engine using idle settings...so make sure your TPS is actually signaling fully-closed when no throttle is applied.
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