Just an update here, I think our ICV finally failed at around 182,000 miles on our 3.0i

I believe it is worth cleaning the valve, the first time we cleaned it (in this video) we were able to extend the life another 50,000 miles! Amazing. A related pesky code came back recently and cleaning the valve did not resolve it.

Finally caved and bought a brand new ICV. So, try cleaning first, if that fails you'll need to replace.