Check to see if any accessories are running and turn them off. These will have an impact on your idle rpm. Turn your air conditioner off. The air conditioner runs almost all the time on these newer cars. (Page 500 in my manual for a 2017 RX 350 base.)

 

This is with AC off.

 

What is a "D4S" ? Engineers program these vehicles in various ways. There are hundreds of variables to determine idle speed. Plug a scanner into the onboard computer if you think there is a problem to see if there are any stored codes. Active accessories might cause the idle to run a little high. So many electrical devices running you are not aware of, especially sensors, component modules and the main computer are all using electrical energy. I wouldn't be concerned if it takes a little longer for the idle to come down. Six, seven or eight minutes is not unreasonable.

 

Check for stored codes. You have a sensor malfunction, throttle body problem or computer problem.