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It sounds to me like you have some binding in the carb linkage, might be one of the throttle cables. It could be worn throttle shaft bushings sucking air but I really suspect there's something loose in your linkage or throttle cables. I'd test it by removing the cables from the carbs and see what kind of idle you get then. Operate the thottle by hand without the cables and see if it behaves differently. If it behaves that way you may need new cables, you probably do, you'd be surprised how much better a bike handles with new throttle and clutch cables. If it still acts up you need to pull the carbs and inspect the linkage carefully and look at the throttle plates to see if one of them is hanging up. One other common problem with not dropping back down to idle is a CV slide hanging up and not fully seating.
It sounds to me like you have some binding in the carb linkage, might be one of the throttle cables. It could be worn throttle shaft bushings sucking air but I really suspect there's something loose in your linkage or throttle cables. I'd test it by removing the cables from the carbs and see what kind of idle you get then. Operate the thottle by hand without the cables and see if it behaves differently. If it behaves that way you may need new cables, you probably do, you'd be surprised how much better a bike handles with new throttle and clutch cables. If it still acts up you need to pull the carbs and inspect the linkage carefully and look at the throttle plates to see if one of them is hanging up. One other common problem with not dropping back down to idle is a CV slide hanging up and not fully seating.