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Engine stall first thing in the morning until warmed up

My Acura MDX has 118,000 miles on it. When I start it in the morning, it stalls as I shift it into gear unless I let it warm up for about 5 minutes. It is a 2002.

Ok…and …how old are the spark plugs? Wires? Fuel & air filters? Its just hard to know where to start without knowing the basics of how the car has been cared for.

Does the engine temperature tend to behave normally according to the gauge?

Is the check engine light on?

If all of the maintenance is completely up to date, nothing funny is going on with the temperature gauge, and there is no engine light I’d be looking first at a sticky idle air control valve (IAC).