Had a similar problem and read through a few posts. Cleaned the iac, cleaned the tps, oiled the throttle blades and didn't get it fixed until I cleaned the pcv valve.

 

I noticed last night the rpms were at 1000 when in park or stopped at a light. Is that normal?

 

The stock programming for idle on an A4 trans is 550 RPM in drive and 650 RPM in park/neutral. The stock tach typically reads 100-200 RPM higher than actual engine speed. To get accurate engine speed, you have to read the PCM with a scanner.

When you are slowing down, approaching a light, the idle will stay slightly elevated. When the vehicle speed sensor indicates the car has stopped, it should drop to the numbers shown above.

Is it steady at 1,000 RPM, or is it cycling up and down again?

 

Its steady at 1,000RPM. I just dont remember it being like that.

 

You may have sticky throttle linkage, or blades, or a problem with the IAC valve. The latter problem is where a PCM scan comes in handy, because you can see the exact RPM, and see what the PCM is telling the IAC valve to do to correct an idle that is too high.