My drive by wire, direct injection, 3.5L 2004 has an annoying start-up chacteristic of running at 1500-2000 RPM at start-up, and staying high for 30-60 seconds. I've got other Rodeo's that start, rev, and calm down within a few seconds (5-10), but this thing jerks you around. Dealer says "That's normal for that engine"

Depends on how cold you're talking.

I have the 3.2L V6 that I've had for 11yrs now and 184k miles, baby always revs at around 1,500 or so for a few when it's cold out, especially when it's really cold. I'm talking like 15F or below, or if it's been sittin a while in between drive times, i.e. she's sat for over a week now.