The ICV is a little fiddly to access, but not too bad if you take it steady and make sure all the hoses go back on tightly.
I recently picked up an E85 with the M54 engine that had no idle issues at all. I removed the ICV as a matter of course, simply to remove all the crud that builds up over the years. It did still move but reluctantly. 10 minutes with some carb cleaner and a good twist about to get it moving and it's much better.
I'd suggest that you should try cleaning it up anyway if it's never been done before.
