Idle Air control valve is sticking. I had this on my 5.2 Dodge engine.
You can remove the IAC assembly from the back of the thottle body and clean the metal surface. Do not turn or push on the plunger. Deposits cause it to stick. You can also replace it pretty cheaply but I find cleaning it works well.
Here is a picture of the location of the IAC
https://w05.dealerconnect.chrysler.com/service/mds2002/serviceInfo/en_US/80a61223.gif
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