02 Trooper high idle in gear

I just purchased a 2002 Trooper 3.5L with only 29,000 miles. Seems fine other than idle goes to 1100 or so when its shifted into gear, drive or reverse.
Idles around 750 or so in park. This is all after warm up. Really wants to go while waiting at stop lights. Any ideas?
I've never had this on my 150,000 mile 1997 Trooper (bought new and still run every day, no major problems). Love these things.http://www.automotiveforums.com/vbulletin/images/smilies/ices_lol_ani.gif
Thanks, Rick

The idle up pressure switch on the power steering pump could be stuck. Quite common. You can unplug the thin grey wire to the alternator to see if the idle concern goes away. This swich really isn't needed on the 3.2/3.5L. Other than that, you can try a throttle body cleaning. These trucks are run by throttle by wire so there is no idle air control. A dirty throttle bore may not allow for the minute throttle plate changes needed to maintain idle speed. Last thought is a cracked intake manifold gasket. Those have been known to cause idle speed concerns.

G/luck
Joel