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Sounds like your IAC (Idle Air Control) valve is not working correctly or the compressor for the A/C system is working too hard/too hard to turn.
IAC - mounted to throttle body, it controls the bypass air around the throttle plate at idle. When you kick on a heavy load, it will automatically allow air to bypass around the throttle plate, increasing idle speed to offset the load. Sounds like the IAC has a bad electrical connection or the valve itself is heavily clogged up. A good throttle body cleaning would be the first thing to do. Just so you have a clean baseline to work from. Idle speed is increase when you switch on the A/C.
A/C compressor - if the compressor is adding too much of a load to the engine, it may overwhelm even that modest bump in RPMs from the IAC valve. Compressor could be hard to turn do to a bad bearing, locked up internally due to wrong or incorrect lubricant used, or too much oil/refrigerant in the system. Might need to have the A/C levels checked, make that the system is not overcharged.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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