Sticking throttle on 2000 GP

I have a 2000 Pontiac Grand Prix GT with 3800 engine and about 100k on it. The throttle exhibits a little bit of stick-closed when I first start it (engine cold or nearly cold). If I tap it then it works ok when driving. Had the same problem on a 1995 Bonneville. Any idea what causes this and how to resolve?

Thanks in advance. DJ

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DJ
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