When I first got my 98 Camry, the car starts up b/w 1500 and 2000 rpms. Then after 5 minutes, the idle is down at 750 or so. My 00 Accord starts up just a little over 1000 rpms. After 2 min, I'm ready to go.

My car is always garaged so here's my every day procedure:
Unlock doors
Unlock "club"
Unlock Autolock
Start car
Plug in V1 radar detector
Plug in cellphone charger
Swap in head unit faceplate

By that time, I've already used up the 2 min and the idle is down, the coolant temp is above the line a little and drive easy for the 3 miles before I hit the highway.