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Can a Yamaha dealer search for my bike's history by VIN to see if the sensor has been replaced? Or is there a way I can check? I can't seem to find info about this on here.
My idle fluctuates up and down about 1.5k rpms, somewhere between 500 and 2000, I'm not sure if that is normal or not. My MPG is 35-40 and that seems rather low.
I would first check for a vacuum leak.

The dealer should have access to a database that would tell if your TPS has been changed per the recall but keep in mind the TPS can go bad and there is a diagnostic mode that you can get your readout into that you'll be able to test the TPS.