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You could go and find the IAC, wait till the car is idling as low as it ever does, and unplug it. Sometimes, however, the higher idle while moving is to keep things lubed up in the transmission (for autos, generally speaking)
Or, if the computer would get angry from not hearing from the IAC, you could just take it off and replace it with a bolt you can use for adjusting the idle speed. Either way, the engine will idle lower with high alternator loads or AC or P/S use, because it cannot compensate for the higher load by opening the throttle a bit more.
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