It may be normal operation, but, it is unnecessary for it to idle at
2100 rpms when cold outside. I had this same incident on my 2002 SantFe
when it was new. It bothered me to see it immediately rev to 2100 rpms
when it was started in -20 f . temps. I took it back to my Hyundai
Dealer and was told 'it was normal for Hyundais' . I since found out
how the Idle Device (for lack of the technical definition) works ; I
very easily removed it (2 screws and a clip) from the top of the engine
and made a solid template (gasket) out of light gauge sheetmetal to
exactly match the size of the flange of this Device. I then proceeded to
drill two new holes in the middle of the template which were roughly
half the size of the existing holes of the Device . I reinstalled the
Device with the Template in between , and wullah...she idles at 1100
rpm, when cold, regardless of ambient temps. Absolutely no
driveability problems, or codes, and it gets 1 mpg better fuel economy.
Plus, you cant even tell the Device was modified.
This proves that cold revving at 2100 rpms is totally unnecessary , and
if it takes a bit longer to warm up the car on a cold day, id rather
have it that way .