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My 2001 Rav4 at startup is idling at 2,000 RPM, even when the outside temperature is relatively warm (70s/80s). After 5-10 minutes it finally slows down to 800 RPM. Is this normal?

The problem is I have an automatic transmission, and putting it into gear at such a high RPM is certainly not good on the tranny, so I have to sit there and wait for the idle to drop to a safer RPM.

Is there a way to adjust this high idle?
 

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High RPMS 1500-2000 are normal to idle from a cold startup. The idle will go down once the engine temp gets to its normal running temperature
 

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I don't think it's very normal, about 3 minutes high idle at +/_ 1400rpm is more like it. I've had similar problems, after replacing the temp. sensor, cleaning my throttle body and IAC valve my RAV runs as new ?
 

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I just bought my wife a 2004 2.4 I'm going to deep clean the throttle body myself and see if that works for hers. Hers is auto as well and I notice it too, almost like a Honda high idle was told on Hondas it's the idle air control valve. Let you know if it fixes hers.
 
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