Yes, jumper the same as checking for codes. You should get a normal code ie; a flash every 1/4 second. Now turn on your AC. When the AC indicator on the climate control panel lights up you should hear the AC clutch click on and the MIL should start flashing code 51. This proves the ECU is seeing the AC "on" signal. It's this signal that is used to idle the engine up.
To check the IDL contact turn off the AC and wait for the normal code to again appear. It takes a few seconds so be patient. When it does press the gas pedal slightly. You should get a code 51. The code should disappear when the pedal is released.
Depressing the clutch as suggested to avoid a code 51 is backwards. Think about it, if you had to depress the clutch to avoid code 51 you would have to do it every time to check for the normal code. Depressing the clutch should give you a code 51, not prevent it. The clutch has two switches on it, one for the starter interlock and the other for cruise control cancellation. Don't hold me to it but as I recall it's the cruise control one that gets tested using code 51.
Fwiw there is no code that I haven't deliberately induced in my car using either my homebrew TCCS simulator, my factory TCCS checker, or the car itself. It's be a while since I've done that though.
I don't follow your statment about TPS "common" voltage. You'll need to explain how you're measuring that.