low rpms on first start up?

Hello everyone
I'm having a little problem with my 02 Tacoma 3.4 , when I start it first thing in the morning the engine rpm is between 500-600 rpm's and I can feel a little shake on the engine ,Once it warms up is good the rest of the day smooth at 600rpm . Anyway it's suppose to rev high on start ups and drop the rpms when warm, correct? I'm thinking it could be the idle control valve , but not sure( Aalready took it of and cleaned it) but didn't seam to work. Any ideas?
Thanks

 

I forgot to mention that I did clean my maf sensor , but I'll check the temp sensor.
Thank you! For your help