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My 1997 528i had developed a strange idle at cold start. The car would self-rev. about 6 times then settle down to rock-steady. I garage my car in New York City until summers and rarely drive except for short trips. I was worried that the recent change meant computer problems, etc.
Solution: After O2 sensor changes and diagnostic tests I finally found that the garage guy who regularly puts my car away into the slot, revs the engine as he turns off the key. He does this with all cars. After one week of self-park (big tip to the manager) the car stopped exhibiting any strange symptoms. Garage guy now knows (in a nice way) to avoid this (at least with my car) and I will gladly use his overpriced car washing services, at semi-regular intervals. Ya gotta tip in New York to get ahead.
Moral: don't let others mistreat your car if you expect it to run properly!