Lexus GS idle control motor

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Good morning all, I have an issue with my 98 gs300 I was hoping someone could help with, after getting a t.p.s. code I bought a new one and switched it out, ran exactly the same, rough idle, rough bottom end, a new code comes up for the idle control motor, I removed it and saw that you can spin the gear freely while the motor is still, how than would the motor be able to control the air intake without engaging the gear. I wasn't ready to buy a new one without first trying to understand how it works, I re-installed it and it ran the same of coarse , I had made no changes, odd though, a new code came up, not the throttle position sensor, not the idle control motor, now just a speed sensor code. so the first question is the gear on the motor supposed to free spin? second would be where to find the speed sensor? Thanks all