It could be normal. My 2023 SE AWD goes up to around 1500 to 2000 rpm on cold start and then goes down to 1100 RPM after few minutes. During normal driving, it idles at around 750 RPM.

 

The rpms are normal most . modern vehicles do that when cold. The number one reason a car has problems starting is usually the battery. Sinc your vehicle is now 5 years old when did you last change the battery if ever

 

But what about second case?
Yes I changed it last month

 

2- after about 1-3 hours of being stopped (maybe less or more) sometimes it starts from second try normally (I don't have clips for this situation)
or sometimes starts but rpm does not go to 1.5k directly, 0.7k then 1.5k

I had a similar issue with a totally different car long time ago and it was a crankshaft position sensor which would get heat soaked and would become faulty. Car would run fine for a long time after cold start but would not restart or would be difficult to start if sitting for a while.

This might be totally unrelated but I thought I would mention this.

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Thank you!
I saw video of new Camry that has delay start he cleaned camshaft position sensor maybe it is related

 

And I cleaned the throttle body

I read somewhere recently that this idle behavior is normal after cleaning the throttle body. Something about idle learning procedure.

 

Great information 👍

 

The Toyota Service manual would have the new procedure. There has to be a way without the scanner.

 

Thank you!