yeah, i have a 98 GS 300 and when it hasn't been started for a few days (or just overnight) and the temperatures have been around freezing, the RPM's idle around 1200-1400. It doesn't seem to cause any issues. I tested it once and noticed that after the engine gets to its normal heat range operating temperature, the RPM's drop back down to a normal 400-800 RPM idle.
hope this helped!