Please forgive me if this has been discussed before.
My car idles at about 1500rpm for about 4-5 min. even when its 90 degrees outside then drops to 750rps after.
If I engage drive or reverse it does not jerk and the Idle returns to normal. Have tried spraying wd 40 around the vacuum lines to no avail.
Has any one else had this problem and solved it?

 

Hello,

From my understanding, it is normal for ES300 to do that; all ES300 that I know of have that issue feature, including my 2000 Lexus ES300. It is probably there to warm up the engine quicker, in case if you are stationary. It is generally not recommended to wait until the car will warm-up on its own, since it may cause premature wear. Below is a link where this issue was discussed.

Help me diagnose a cold idle issue

Hope this helps and best of luck!