That is why my first guess would be parking brake switch. If the ECM sees no road speed, it requires the parking brake to be set to raise rpm. When all is working and your are on high idle, if you release the parking brake, engine will go back to idle, at least on trucks. Never tried on my MH.
A shop should be able to diagnose this fairly quickly. Probably 10 minutes. They may have a minimum 1 hours charge or a flat rate for diagnosis, but you could fix it after they lead you in the right direction. Or if you could find your parking brake switch, you could take the 2 wires and disconnect them. If that doesn't work, connect the 2 together and try that. That will simulate the switch being open and closed.