Usually that means its an AF ratio problem, Crank up the afterstart fuel that would be afterstart vs cts., until you get into the high 11's af right after it runs. Whats your IAC postion, it just could be adjusted wrong, not giving you the rpm you need, turn the screw down on the TB to maintain about 15-20 in park hot idle. Work the gains after, average is about 25, D gain about 10 max for now.
DO a cold start log....
RPM, KPA, ACTUAL AF,VE,CTS.CORR, AFT.CORR, TPS, SPARK BDTC,BATT VOLTS, TARGET AF,PSIA,COOLANT TEMP, AIR TEMP, IAC TARGET, ERROR CODE, ERROR CODE2, ESC KNOCK