Hi Trevor,
I took my 1994 GS300 to the shop. The mechanic told me that the Idle Air Control valve needs to be replaced or cleaned. It's quite normal for it to idle high at start up on a cold engine and not to worry about it. However, if it bothers me then I can take it back and have it cleaned or replaced. It will not damaged the engine by running high at start up. So I'll leave it as is for now. Thanks for your input.
Randy