Hi, I got the exactly same problem and I'm curious to know what was cause of this. I noticed that in my case when I'm rolling to traffic lights with gear in neutral, the rpm stays 1500 and when the car stops the rpm's get down to ~1000. When sitting in lights with gear in and clutch down rpm stays around 2000-1500rpm. Measured the throttle body sensor and it is ok. I got no CEL's. Throttle cables are good, not too tight etc.
Rebuilt the engine couple of weeks ago and only been driving like 100km with it. Previous owner (my sis) said that this problem showed up when she had the car serviced because the timing chain jumped which is like ~1500km ago when s*** started to happen with dem rod bearings. The car itself is Mazda 6 2.3 2002 model but decided to write here since the problem is exactly the same.