If the 1800-2000 RPMs bother you that much, start the engine, put the tranny in Reverse, back down your driveway about 8 feet, and put it back in Park. The RPMs will drop to 1500 or less. Don't know why this works, but it does, and it's especially handy to know in cold weather, where the initial high RPM stage can last 5+ minutes.
Now, would I drive off without the engine and fluids being fully warmed? Not in the New England winter I wouldn't, but you'll find that there are several threads here based on "When is my engine sufficiently warmed up to drive off".