Toyota Repair: 2000 toyota 4runner IAC valve, toyota 4runner, air control valve

Question
  I have a 2000 4runner with the 5vz-fe motor (6cyl).  The check engine light comes on periodically and the engine will idle high (around 1800 rpm).  Alternatively, on some days when I try to start the car it will start roughly or will immediately stall out.  If I give it a little gas it will start up ok.  As soon as I shift into gear the rpm drops to what seems like a normal speed and the car runs fine.  
  A mechanic read the engine code and told me that I had to clean (or possible replace) my throttle motor (this mechanic was not a Toyota specialist).  Unfortunately I do not know what the actual code was.    
  I got the Chilton guide and realized that my engine uses an IAC valve instead of a throttle motor.  The guide warns not to clean the IAC valve however.  
  My question has two parts.  The first is whether the symptoms could point to a faulty IAC valve?  The second is whether the valve can be cleaned (in spite of what Chilton says)?  Is there a reason why the valve should not be cleaned?
  Thank you for any help you can give.  As a brief side note there was a similar post that you answered last year reagarding a 97 4runner with high ideling and possible IAC trouble.  It would be nice to know what untimately solved the problem in that case.  

Answer
The idle air control valve can be cleaned but I'm not sure if this is the problem, the first step of any diagnosis on an OBDII vehicle is to retreive the trouble code, without knowing what the DTC(s) are I can't be of much help, try to have someone read the codes in the computer and let me know what they are. Be aware that some 4-Runners of that year may not have the IAC valve, it depends on where they where originally sold or built, state of California emission controlled vehicles always have the IAC valve but some out of state and Canadian models have the idle control stepper motor that sets the idle speed.