I recently inherited a 2002 Camry 4cyl from my dad and it ran just fine for him. He got sick and it sat in the garage from June this year til last week. I had to replace the battery so thats fine, it had 1/4 tank of gas so filled that up in case it was bad gas. But the car still idles cold/warm at about the first notch which is about 200rpm i'm guessing. Even after driving it will drop that low at a stop, lights dim, air slows but doesnt stall. I've always owned Honda's so not sure where to start.........maybe seafoam first? From what i understand, there isnt an rpm adjustment right?

 

Sometimes after disconnecting the battery it takes while for the engine to get back to normal idle.

I think the engine has a electronic throttle now. There is not idle adjustment or I think even a air intake bypass system used to control idle as on older engines.

Might try some Seafoam into the throttle body. Drive the car for a time.