We have a 2013 GS with 22K miles on it that we have owned since new. This winter I noticed that when the car is driven cold,the idle seems high. At a stop with the brakes on, the idle is around 1,000 RPM. You really have to pay attention and keep your foot hard on the brake so it doesn't creep.

Does anyone else living in a cold climate experience this or is the idle too high?

I believe it's normal. I have a 2013 AWD Lux with ~31K mi and experience the same thing as you when the car hasn't fully 'warmed' up yet.

I have a 2014 GS with 40K miles and I experience the same thing when it is cold (Cleveland, OH). I did notice however once the engine is fully warm, the idle goes back to normal and you don't have to mash the brake pedal so hard.

It's normal. Part of the cold weather package, IIRC

It's normal for all vehicles to idle higher until the engine warms-up for a period of time when the ambient temperature is low.