Should be a check engine light on, if so have the codes read, they will help determine the cause of the idle problem.
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If you are having issues with it dying, start with cleaning your throttle body and clean or replace you Idler Air Control. That is mounted on the throttle body.
You probably need to adjust the idle in the mule 3010 so you don't have to gas it to get it to idle.
Should be at least 10 at idle. 25 at idle would be better.
900-1200
try your egr valve
Minimum spec at a warm idle is about 12psi. Normal is about 30 at idle. Should go 40-60 at 3000 rpm.
Idle speed is computer controlled and is not adjustable. If the speed is incorrect, then you need to diagnose the TPS, the idle air control motor, and check for a vacuum leak.