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If your idle is dropping to 500, I'd say you just figured out your problem.  That's just too low of an idle.  You describe how mine acts when she is "a bit shaky", sounding like it has a tall cam and may stall sitting there. 


Let it learn idle when the engine is hot and you should be more in the 600-700rpm range and above.  Sport mode is a reasonable alternative.  Engine must be warm before it will learn anything.


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