Okay, my V6 is a 5-speed but my four-banger Camrys were both autos. The rpm characteristics for all Toyotas of this vintage are similar: high revs right after start-up (my V6 revs to 2300, my Celica revs to 2000, and IIRC the 4-cyl Camrys rev just as high on cold start).
Once the engine has come close to normal operating temp, the revs should drop down to 750rpm (stock). 800rpm idle is nothing to worry about, but anything higher is just too high.
On the throttle body (the aluminum intake piece that the black rubber snorkel clamps on to), there is a little spring arm where the throttle cable seats. As you let off the gas, this mechanism springs-back to idle. There is a little threaded stud with two tiny nuts on it that holds the throttle from retracting any farther, and your mechanic may have adjusted this too far forwards (it is now stopping the throttle cable from retracting the mechanism to proper idle). If you re-adjust it about 1/8" further back (towards the driver's side of the engine) it should bring the rpms down to normal.
If you're stumped, I may be able to dig-up a pic. Look at the little screw in the fourth pic down in this thread (the screw is painted yellow, and it's aligned vertically instead of horizontally on our earlier V6's):
DIY: ACIS modification II -- free power
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1990 5spd V6 Camry (Still kicking at 393,000km) 1991 Celica GTS -- Pappa needs a 3SGTE...and AWD for all this friggin' snow
Honda my A$$, you just can't kill a Yota...