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Q: Car idles fast when it is in park, runs fine when driving on 2009 Hyundai Sonata

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Hello, sounds like you could have a vacuum hose leaking under the hood, or perhaps a vacuum leak at the intake manifold. When this occurs, it allows air to get into the engine without being controlled. This could raise the idle. Of course, this is just an educated guess, and a proper diagnosis should be performed. Check any and all hose connections under the hood visually to make sure all are attached properly. Good luck.
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