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This recently happened to me, so to bump up the idle a bit I turned on the A/C (you can run the heater simultaneously too if you're cold).
now of course that's not a fix but after a few miles the car adjusted and it was not as low when I turned off the A/C. this was on my 97 with 170k.
So far I have cleaned the airmix, replace throttle position sensor, idle motor, checks vac leaks, cleaned throttle body 4 times ( wasnt even dirty ) I changed the battery as well as some reported better idle. I have also had my ECU rebuilt, but that didnt do anything. I'm out of ideas to what it could be. Please help.