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You might check for proper operation of the idle air system. There is a modulating Air Control Valve that the ECU will open and close to maintain a constant idle speed. This also has the function of adding additional air during a cold start. Possibly the Air Control Valve is frozen or stuck in one position, which is the correct position for warm running. Thus, adding a little additional air by slightly opening the throttle valve when starting works, and also explains the rough idle until fully warmed up.
There are some test procedures for checking the valve in the Bentley book.
Good luck!
Roger
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