when i start my car, rmp is always right below 2000 (too high?) until i put it in gears, then suddenly drops. is this normal?

 

To improve cold emissions [get cats up to temp fast] 1500-2000 rpm is normal.
To maximize engine life limit rpm until the block reaches 174F operating temperature usually requires 5-10 minutes of idling depending on soak temperature.

The same for AT which measure ATF temperature and don't perform well until warmed up to operating temp.