Hi,
The most common cause of this type of issue is a bad idle air control valve (IAC). The IAC is what is responsible for maintaining the idle speed. Here are a couple links for you to look through. The first explains how in general to service it and the second is replacement.
https://www.2carpros.com/articles/idle-air-control-valve-service
https://www.2carpros.com/articles/how-to-replace-an-idle-speed-control-motor-iac
This type of issue can also be related to an engine vacuum leak. However, based on your description, I feel it is the IAC.
Here is a link explaining how to check for a vacuum leak:
https://www.2carpros.com/articles/how-to-use-an-engine-vacuum-gauge
The IAC is located on the throttle body. See picture 1
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Let me know if this helps or if you have other questions.
Take care,
Joe
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Friday, February 21st, 2020 AT 2:19 PM