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I had a hard time finding information online and it turned out to be a very simple fix. So I'm sharing what I learned so maybe someone else doesn't have to spend more time searching youtube videos than changing the actual part.
The Idle Air Control Valve (IAC valve) is super easy to change. It's right on top in the front just above the air intake. There are 2 types of connectors so make sure you have the correct one. It has 2 small Hex keys to hold it in place. I found that it was easier to remove 2 of the bolts from the throttle bracket and loosen the third one so I could pivot the bracket away and have a little more space. You may have to reuse the oring from the old IAC valve on the new one.
I found that when I replaced it the screws wouldn't go all the way in so I had to shim it with a couple of washers. Probably a user error but I could not get those bolts all the way in with the new or the old IAC valve.
Thanks for sharing your tips, pictures, and experience.
FYI, on the newer 96-05 trucks the IACS is on the driver side of the throttle body, and is a little more difficult to access. Theoretically you can get to it with just removing the air intake hat, but it's much easier to just unbolt the throttle body and twist it 90* to have easy access to the two torx screws that hold it into the throttle body. As well, if you've gone that far, you may as well give the throttle body a good clean while you have things apart.