I wouldn't suggest that you remove the entire TB just to clean it out, particularly the IAC valve. I would just try to spray some TB cleaner into the intake and orifices first. That has cleared up any IAC related problem for me on several vehicles. Don't get me wrong removing the TB and giving it a thorough cleaning may be needed in some rare situations, but I doubt with just 78k on the clock you built up that much gunk.
08 RAV4 Limited AWD V6
05 RAV4 S FWD 5spd -traded for 08
2012 Corvette ZR1
90 454 SS truck 425rwtq