Hello, I’m pretty familiar with this engine. I don’t know that a relearn procedure would be necessary. The PCM should revert to the pre programmed settings for the IAC and TPS and adjust accordingly. I could be wrong here.
Here is an idea or two, followed by a question.
First, you may have a simple vacuum leak. This can cause high idle. Check your vacuum line from the pcv valve line where it mounts into the top of the front valve cover. Then check it where it routes to the purge solenoid (just behind throttle body and in front of EGR valve). Also, check the vacuum line at the fuel pressure regulator and where it routes to the MAP sensor at the back middle of the plenum. Don’t overlook the big main vacuum line coming into the plenum from the brake booster. Eric has some helpful videos about how to check for vacuum leaks.
A second suggestion would be to purchase a simple vacuum gauge (if you don’t already have one) and see what the reading indicates. There is a vacuum test port at the right front of the plenum near the fuel pressure regulator.
Did the high idle originally start out of the blue, or had you done any other work to the vehicle lately? Did either the IAC or TPS throw a diagnostic trouble code?
Best of luck. Keep us posted. tomatofarmer1