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It just says it doesn't in the service manual. The o2 feedback at idle is different than that used under throttle and at speed.
O2 cycling works by gradually adding in more and more fuel until the sensors detect a rich condition, at which point it dials back the enrichment to a lower % and starts the cycle again.At idle, the ECU adds fuel in at 0.15% per 100ms and dials back to 30%. Off idle, it adds 0.28% per 100ms and dials back to 60%. The idle feedback is only used when vehicle speed is < 10km/h, so you can test to see if this is the issue by dropping to idle with the car moving > 10km/h.
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