Idle speed question 4.0L

When I start my 07 2WD, 4.0, cold or hot, the idle spped approaches just under 2K RPM's and takes a long time to idle down. Is this normal? Also, when stopped at a light, my idle is around 800 RPM's and I really have to keep plenty of pressure on the brake. Is this normal? Finally, when I come to a stop, it takes the tansmission a few seconds to "kick down" into first again. Is this normal?
I appreciate any thoughts or comments.

 

Why?
Why?
Why?
I gotta REALLY be on the break during normal idle and fogetabout trying to do anything like doing a 3 point turn in my driveway when its cold.
Haven't been to talk with a Toyota mechanic yet but no other vehicle I have ever driven is this bad to hold still. WTF?