That sounds normal to me 4cyls are higher revving engines it just sounds to me like your idle control is trying to warm her up. When it was around 21 degrees in the morning where I'm from my 3.0 idled at around 1500 for a few then dropped to normal. If it isn't throwing codes and it's running fine she's just cold

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From my expierence a carbuerator has a choke for cold start and some fuel injected engines actualy have a separate injector just after the throttle bodie for cold starting

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2001 Ford Ranger EDGE 3.0 V6 5 speed
OEM front tow hooks
Class 3 tow bar
Rugged Liner Bedliner
3.73 gears
Stock size tires 235/75/R-15 Michalen LTX M/s2