Intermittne revs when car starts until it warms up.

If the battery voltage is low, the ECU will sense that and increase the revs to speed up battery charging.
Check the battery voltage.

Your toyota technician should know what a "cold starting solenoid" is. It is the little thing that works your throttle until the motor warms up and something else takes over. I'd suggest going to another technician.

cold idle control sensor bad

My 05 1.6 renault megane struggles to start in th morning and once it does fire up you hav to rev it to ensure it wont cut out. The car then splutters and judders a bit till its warm then it tend to run ok. but keeps on switching off at the robots when i stop please what could it be

Revs.
As for the issue of the idle revs, that's perfectly normal. When it's cold outside, every car is supposed to have a higher rev in order to warm up the engine quickly. In more advanced cars, the computer wont even allow the engine to shift into overdrive when it's cold outside in order to avoid extreme engine stress and damage. When it's warm outside, the engine doesn't need to idle high because the engine is already at a good operating temperature. Not much will be needed to get it to the right temperature.
Intermittent Jerking

There is a long list of things that could cause intermittent jerking. I'm going to name all of them for you, but your best best would be to go to a mechanic and have them do an inspection.
Clogged PCV Valve (Possibly if you don't get your oil changes on time, sign of a tune up)
Bad DIstributor Cap (not likely at 140,000 miles)
Clogged fuel filter (Very likely, usually done with tune up)
Bad Fuel Pump (Not so likely)
Defective ECM (also not likely)
Vacuum hoses/leak (not likely but possible)
MAS (Mass Airflow Sensor--not likely but possible)
Fuel INjectors (if so, sign of a needed tune up)
Faulty Spark Plug Wires (not likely if tune up is recent)
Faulty O2 Sensors (possibly)

Clogged Catalytic Converter (Possible)
~Hope this helps

If your car is fuel injection,try changing the cold start temp sender.

Sounds pretty normal to me.

Have you by any chance, monitored fuel pressure from start-up to warm-up point where it will not rev? Would not be uncommon for fuel pump to start acting up, about the same time engine gets warmed up.

Hi ..... This sounds as if it's fitted with an automatic choke, as long as the revs drop when it's warm there is nothing to worry about. The indication when these start to go wrong is that the car won't start when cold ................ even then any decent mechanic can fit a normal/manual choke.

sounds like the sensor module