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Unless there is something in Idaho's laws about a FFL receiving a gun across state lines from a private party (I rather highly doubt there is), it should be perfectly legal.
Some FFLs don't like to receive shipped firearms from private persons, but I don't know of any who would throw a fit about the owner himself bringing it in- if that's the case, the FFL would never have any used guns to sell.
I once sold a gun much like that- drove it across into a neighboring state, handed it to the FFL, and then the FFL then handled the transfer on his end.
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