We are going to need to do a couple things just to make sure you checked for a vacuum leak as the guide below shows.
https://youtu.be/4ktw1X4W_-k
If there are no leaks then this could be a PCM commanded issue. The brake switch and power steering switch are inputs to the PCM and when they are telling the PCM that the load is high, it pumps up the RPM.
So what is the RPM that it is idling at?
Let's check for codes and then do you have access to a scan tool that can monitor the input data on the PCM?
Below is the detail on the idle control that covers this info in detail.
Images (Click to make bigger)
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Thursday, January 14th, 2021 AT 6:02 PM