The throttle body cleaning is dependent on the year because 2k and 2k1 have a cable drive throttle system where the 2k2 and 2k3 have the drive by wire. The 2k2 and 2k3 throttle bodies are VERY SENSITIVE and many orgers have learned the hard way after doing some type of cleaning.
However, our 2k and 2k1 throttle bodies are resilient with cleaning. I would suggest hand clean with a lint free rag and B-12 chemtool cleaner. I use this on mine and it works well with no issues.
After the initial hand cleaning get a can of the Seafoam spray cleaner. It comes with a very handy spray attachment which you can use to inject the Seafoam through your throttle body and into the intake manifold. I recently used this on my wife's Explorer and it worked VERY WELL. It was a one person job where normally it takes two people and you can inject directly into the intake versus the brake booster line.
Here is some information on the Seafoam spray.
I wouldn't take the throttle body off unless you plan on removing the intake manifold as well and taking them to get cleaned in a parts bin somewhere. It isn't worth it in my opinion. Try the hand-cleaning and spray clean first to see how it helps.
Also, the idle relearn procedure wouldn't help your situation. Did you do the idle relearn after replacing the IACV? Usually, that is the time to do it.