Hi, kiwidave!
Yes, the manual specifies both the baseline TPS setting and another at idle.
The consensus has been to set the idle where the bike simply idles well without concern for the "degrees of opening" or millivoltage exhibited by the TPS. This is in Step 6 of the Decent Tune-up.
Also, note that the TPS idle setting is a range while the baseline is specific.
As always, YMMV and there are numerous other *fine tuning* steps that you can move on to.