No. There is not a scan tool can't either the pedal is not hooked up to engine with a cable. All computer analog signal with electrical wires. This is not one for most mechanics to diagnosos . they seem to have a issue with it. Anyways, take it to dealer. The pedal uses two sensors with oposote signals to determine position. The computer controls electric motor on engine that opens and closes throttle vale. Computer uses two sensors in throttle body to determine its position. If any of these four signals carries even slightly, nothing more than idle. Some will start and idle with no pedal response and other will stay at idle if engine was already started and once keep shuts off then won't restart. So take to dealer.
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