1997 Jeep Cherokee Engine idle issues

Ill just be driving along (approximately 2 miles or more) when I have a problem with the engine idling. It seems to occur after the engine has warmed up and the oil has circulated, Im not sure. If Im driving on the highway, stop pressing down the gas pedal and disengage the clutch, the RPMs will shoot up. The range on the dashboard goes from 0 to 6000 RPMs, and when the problem happens, it will automatically rise about 2000 RPMs higher than where it currently is at the moment. After I come to a stop, the idle process will settle at around 1000 RPMs (800 RPMs is what I have noticed to be normal). When this happens, the moment I give it more gas, the vehicle dies. After it has died, it will not start again until about 20 minutes later (it wont even start when I put starting fluid in the intake manifold). I can tap the gas pedal just enough to not kill the vehicle, wait 2 seconds later when the RPMs shoot up again, then give it more gas at that moment and Ill be able to drive along again. I have replaced the idling position sensor twice now (within the past year). I have also replaced the oil and O2 sensor recently. Do you know or have any suggestions on how to fix my problem?