GS430Blue

2001 gs430: car has a low idle when in gear, little rough but probably due to low idle in general, and fine when in neutral and park. with research i understand this could be a dirty Idle Air Control Valve. i see on some cars it is easy to remove and clean....looking at what i believe to be the part, it is not easily cleaned...i have 2 part numbers 17630-16040 $100 and 89672-30020 $200.....Which would i replace, but first can i clean the idle air control valve on my own....