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If you have a throttle body, you might want to check the IAC motor (idle air control). If it is malfunctioning it won't tell the computer to raise the idle air to compensate for the addtional load on the engine. It's located on the throttle body. Additionally, if you turn your front wheels and get the same results or if your idle doesn't lower after the engine is warmed up is another way to tell it's bad or needs to be cleaned (and look at it's seat in the body).

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Q: Why does my 2001 safari idle too low esp when ac comp is engaged?
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