Is there a way to test the idle air control valve or the idle air control motor? on 2002 Toyota Avalon

Intermittant problem. Car will crank and start but will not idle and will stall. It has happened in my garage and in the shopping mall parking lot. The motor has not stalled while I have been driving. I took the valve off and sprayed it with carb cleaner but it didn't look terribly dirty. I can move the little valve with my finger and it seems to work fine. Maybe it is the valve motor itself.

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