I have a 2007 Hyundai Entourage SE and noticed a slightly different symptoms.

Symptom #1
When I start my engine in the cold mornings, it does this "rumm ..... rumm.... rummm" where the RPM's will vacillate between 1000 and 2000 RPMs. After doing this for 30-60 seconds, the engine seems to warm up and maintain a steady RPMs from this point forward.

Symptom #2
In two sepearate occassions, both when it was in the 10's and 20's F outside, after starting the car, the gas pedal doesn't do anything! You can stomp away and there's no engine response. After a few minutes of warming up, then the engine will repond.

So here's what I think the solution may be:

After this lastest manifestation of symptom #2, I got my trusty Android phone loaded with "Torque" and got my ELM327(which you can buy here) and pulled the codes - P2106, P1295, and P2135.

After researching the commonalities of those codes - they all point to the Throttle Position Sensor. So wouldn't you know -- there is a TSB on this issue TSB 10-FL-010 (which you can read here) which explains all about the condition and how to solve it.

Step #1 = Replace the bad Throlttle position sensor with a new one
Hyundai Entourage - Throttle Position Sensor = Part # 35107-3C100FFF

So I figured that I could easily install the part. I found some suppliers in the the U.S. who would be happy to sell me the part for $30-$35 (part plus shipping).
35107-3C100FFF - Kia Parts - Kia TH`SENSOR ASSY(

But I found this guy out of Korea who will sell it to me for approx $11 (part plus shipping)
Auto Part Item View : 351073C100FFF TH SENSOR ASSY(TPS) for HYUNDAI/KIA AZERA

So I've ordered the $11 part and we'll see. I'll let you know how it goes.

Step #2 = Update the programming in the ECM
I guess I'll have to go to the dealer to get that fixed.