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Turn the idle up on the throttle body

Do not adjust the throttle body as this will cause other issues. the most common cause is a bad battery. Although the battery may still start the engine the voltage drops too low and the power train control module loses the closed limit of the IAC motor. Also use a spray fuel system cleaner to clean the throttle body. If you are not comfortable with doing this take it to a local repair shop and have the fuel system and throttle body cleaned. "speaking from 12yrs working for Chrysler Dodge Jeep"

My 98 Jeep did that and come to find out I have to put in a new PCM !!

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Q: How do you find the problem with a 97 grand Cherokee that will not stay running once your foot is off the gas?
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