That's high. It should be around 1300-1500 at cold startup and then settle into ~700 at idle once warm for the VQ's.
You have something going on.
This is not a likely cause, but an example - My old Maxima would idle and rev high like that when my alternator was dying. Once it finally crapped out (started on fire, actually, bearings burned up at 300K miles) and I replaced it, everything went back to normal.
The computer was fighting the dropping voltage from the alty by upping the rev's.
Like I said, it's probably not your cause, but may be worth ruling out. I'd check your voltage from the alt. Simple to do, worth a shot to make sure it stable and ~14V.