S4 Intermittent High Idle when driving

Intermittently when I'm driving my S4, the idle won't drop down below 2k rpm. Happened last night, the first 10 minutes of driving was fine, then as I shifted and drove through back roads and stopped at lights etc, the idle wouldn't drop below like 1900rpm. After about ten minutes of that, it went back to normal and was fine the rest of the ride. I even tried to reach down and pull the gas pedal up like maybe it was sticking, but no change. Oh and I do have the throttle jack disabled and removed, and I did not get a check engine light. Not sure if it's mechanical like the cable is somehow sticking sometimes or if it's maybe the butterflies sticking? Or maybe it's a normal condition that can sometimes occur. Thanks in advance for any comments.