If they cleared the light with the scan tool and it came back on maybe the computer is not reset properly. Try unhooking the batt for 30 min. then upon first start
To perform the "TPS learn proceedure" upon first startup, turn the key to on, wait 30 seconds, then turn the key off. Now start the vehicle and let the idle learn.
This is the sequence to relearn the idle speed.
As stated earlier the PCM probably just needs to relearn.
Glad to hear it is running good now.