I would not increase the voltage and cut the ECU output, this may bring up a fault code when the ECU watchdog finds there is no load on the output.
You may be better of to artificially introduce a higher voltage no greater then the reference voltage from the ECU output and use a 0.8v differential between the two circuits.
If you have 2 X 5v outputs from the ECU to the input of the peddle and the output from the peddle increaser the voltage to the input of the ECU...... so for example at idle you have 2 X 5v reference voltages into the peddle with with 2 x outputs from the peddle ..... 1 X output may be 1v and the other 1.8v...... if you were to drive the 2 X outputs from the peddle at say 1.4v and 2.2v you might increase the idle RPM base line.
Grab 2 X 7805 voltage regulators and trim their output to 1v and 1.8 volts and see what happens...... if you get smoke you know it doesn't work.
As long as you don't increase the voltage any more then the peddle input reference voltage.
"Off Topic But Important"......A sprint booster may work the same and increase the voltages on the 2 X outputs from the peddle by using a multiplication factor of say.... X1.15 or it may work on ramp up voltage where the multiplication increaser with voltage.
As for the Aurion I would say they would use the same set-up for their drive by wire as would most other Toyota's.