Been having this idling problem for a while.
 

It happens when I shut the truck (2002Tundra 3.4L) off for a few minutes and on restart it will not idle. It will die if I don't hold my foot on the accelerator for a minute or so. On a cold start it does fine. Also if I let it idle about a minute before shutting it off it usually is fine on the restart.
Fuel system problem is my uneducated guess. BTW no check engine light.

TIA
Jim

when was your last tune up?
Automatic or stick?
with A/C or without?
before you start throwing parts at it or get heavy into diagnostics make sure you have good spark plugs, air filter, fuel filter, distributor cap and rotor.

It's has A/C and an A/T.It's never had a tune up, other than 2 air filter changes. I am going to change the fuel filter in the near future. It's right at 114k miles. Still runs good once it clears itself out on a warm start up. I don't think it has a distributor???
I not planning on throwing parts at it, I wouldn't know what to begin to throw.

you're right about the distributor, not on that engine.
with 114K miles on the original spark plugs it's amazing it runs at all, start there.
Also try making sure the A/C is off when you start it and see if that makes a difference.

I plan on changing the timing belt and water pump in the near future while I have it torn apart, I'll change the plugs and check the resistance on the plug wires. It doesn't make a difference with the A/C on or off. I usually turn the A/C off when I shut it down. I never did like to start a vehicle with an extra load on it. Just one of my OCD habits.
As far as running,it runs better now than it did 15 years ago with 18K miles on the truck.