Our 01 model has always started with a roar and idled a bit high until it warms up. We (my wife is the primary driver) were bothered by this at first, but have gotten used to it. I can say pretty conclusively that it's not doing the engine any detectable harm. I've used a couple different synthetic oils in this vehicle, and I usually send a sample off for lab analysis right before I dump the oil. Our last oil change was in July, and as you can see from the lab report, the Tree's oil was still in like-new condition after 13 months and 10,000 miles use (the 2UZ-FE V-8 has a rep for being extremely easy on oil, by the way). Clearly, this engine is not grinding itself up after cold starts, which I originally feared. Before any of you allow yourselves to experience cardiac arrest at the thought of how long I run the oil in this engine, check this out:
http://theoildrop.server101.com/ubb/...=002849#000000
Be careful of the BITOG forum -- it's extremely addictive for compulsive car care nuts -- just look at my post count over there. . .