01 RAV$ fast fast idle ?

How long is "too long"?

How cold is it when it's started? Also what are the RPMs and how long before normal Idle. It's possible the throttle cable may be sticking, it should be slightly slacked during Idle.

How fast is "too fast" and how long is "too long?"

How many miles are on the vehicle, and what is the ambient air temperature when the condition occurs?

Is the throttle pedal difficult to depress? If so, try cleaning the throttle body and idle air control valve.

Check to make sure that the coolant temperature sensor for the ECU varies voltage with coolant temperature, and make sure that whatever controls the idle air bleed is not sticking or varnished up. The varnish-gum comes because the PCV valve vents into the throttle body, and the vapors from the crankcase form deposits on the throttle body and IAC.

Check to make sure that the coolant temperature sensor for the ECU varies voltage with coolant temperature, and make sure that whatever controls the idle air bleed is not sticking or varnished up. The varnish-gum comes because the PCV valve vents into the throttle body, and the vapors from the crankcase form deposits on the throttle body and IAC.

There may be 2 coolant temp sensors, one for the ECU and one for the gauge, or they may have 1 sensor doing both jobs. They are probably both in the vicinity of the thermostat.