3rd Gen idles sorta rough while in gear only while engine is cold

I recently got a used 2017 TRD Pro, and as such I’ve been doing a bunch of maintenance to make sure my ownership starts off on the best foot it can. I’ve done filters, spark plugs, oil change, etc.

I noticed while the engine is cold (just a few minutes worth of it cause things warm up fast here) if I put the car in gear (reverse or drive) it idles kinda rough. The rpm’s seem steady around 500ish but I can audibly hear some vibrations and clicking from the engine bay. It goes away when I put it back into park or rev the engine a bit (engine still cold). Whenever things warm up everything seems perfect, rock steady rpm in any gear, idling fine at lights, no clicks or rod knock inspired noises, etc.

I’m at 63k miles is there anything else I should look for? Is this normal behavior?

 

Idle speed for the 2GR at operating temperature when in gear is 580 +/- 10 RPM. Dead on 500 is a touch low and it will produce excess vibration. 500 rpm idle on a stone cold 2GR is severely low, should be 800 when idling in gear until it warms up. Using nonsynthetic oil or too thick of an oil will also cause increased vibration at idle and very low rpm under load, but it's pretty tough to notice especially on an automatic. Incorrect oil tends to cause its characteristic vibration regardless of temperature. As far as noise from the engine bay, that's normal especially on a cold 2GR motor. It's definitely possible for the noises to get louder than normal, but I don't have decibel measurements unfortunately. When you shift to park, the load on the engine is slightly relieved, so it will quiet slightly compared to idling in gear.

 

That idle sounds a touch low

Try cleaning the throttle body

 

To clarify the idle while in park when it’s cold is around 800 while it does its warm up procedure. If I put it into gear during that it wants to idle pretty low and it seems kinda rough. Idle in park is fine, cold or not.

I’m doing an oil change this weekend and I’m gonna do the 0w factory stuff then.

I actually did clean the TB when I did spark plugs about a week ago. Might try and clean the MAF next?