My 2002 XL-7 will start fine.  Once I've driven for a couple of minutes and it's warm, the idle drops and the car stalls whenever I'm almost to a stop. 

I do not (yet) have a Haynes manual.  I've seen other answers on the forum that recommend checking for vacuum leaks (found none), the TPS idle, the ECM Code if any and the MAP sensor hose to the intake (it's fine).

If I need to check the TPS idle or check for an ECM Code, are either of these steps possible without a manual and extra equipment?

Sounds like the Idle Air Control Valve.

It could be a lot things, Vehicle Speed Sensor or TPS Idle are likely candidates, so is the EGR valve. TPS idle should be easy enough to check with a multimeter, I don't know if you can pull the codes on the XL7 without a reader, some late models still have the old style OBD port as well. However you can get the codes read for free (Autozone?)