Don't know what model year Yaris, but I would first address other codes, then  make sure I don't have and fix any unmetered air ,vacuum , or Evap system leaks, excessive fuel pressure, fuel leaking into a vacuum line attached to a leaking fuel rail pulse damper or pressure regulator, Air conditioning clutch command or PS pressure switch circuit issue that can make idle go higher.

  After checking coolant temperature normal, O2 sensors working ok, cleaning the MAF sensor , wiping clean  the throttle body with a rag with WD40 , I would then proceed to look in  special function in diagnostics, or if nothing there look  in  the service or hot function app of your MD802 and look for the throttle symbol, click on that and see if function is supported.