Well this is a tough one.
I'd start by clearing the DTC's if you haven't done so already to see of that P0234 comes back. But I don't think it's related to the high idle... it's probably just a coincidence.
It sure could be the APPS acting up. One way to trouble shoot a flacky APPS output would be to buy a
ScanGauge so you could monitor what the ECM sees the throttle position as being (percentage). If you were sitting there at idle after your commute and the ScanGauge showed the a throttle position of something other than zero percent, you'd know right away something was wrong with the APPS output. If the ScanGauge showed the throttle position to be zero and the engine was idling high, then it probably couldn't be blamed on the APPS.
Something you might try first is to have the ECM relearn the APPS voltage range...
Disconnect the negative battery cable from both batteries then turn on the headlights for 10 or 15 minutes, then reconnect the battery cables.
Turn ignition key on but don't start engine.
Slowly press accelerator pedal to the floor.
Slowly release accelerator pedal.
Turn off ignition key.
If you did have to replace the APPS, the cheapest route to go is to replace just the throttle position sensor which is bolted to the side of the large cast aluminum APPS bracket. Williams Controls makes a sensor that fits and works perfectly, but it needs a wiring harness adapter to plug into the truck wiring harness. Forum member Timbo sells a kit which includes the sensor and the harness adapter for a reasonable price. You can send him a private message for details.
Best regards,
John L.