The only real issue with having the IAC at 5 (which is it's most closed position) is that it can't do anything more to slow the engine down. If you're fine with how it is idling, I wouldn't bother to mess with it. It doesn't have to be right at 20.
If it is just sometimes dropping 100-150 RPM, I think I'd be OK with that. The idle speed control is a closed loop function just like the fuel control. It sees something happen (like RPM dropping below the target speed because of a change in load or whatever), makes an adjustment (opens or closes IAC valve), watches what happens (RPM still dropping, dropping slower, RPM increasing, whatever), makes another adjustment, watches what happens, etc., etc.... This all happens very quickly. But not instantaneously since it takes time for each adjustment to affect engine speed. So a small degree of lag or overshoot is not uncommon.
Standard disclaimer - keep in mind that timing can affect things, too. May not be related here. Just something to keep in the back of your mind.
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