How do you change a Throttle Position Switch in a 2006 Kia Sedona?

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When the temperature outside is moderately cold the van will display the check engine light along with the traction control light and not allow throttle inputs. I have to turn the vehicle off and on, then it will be ok for a minute or 2, and continue doing this for up to 5 minutes. Once the van gets really warmed up it stops, however the check engine light will stay on .