1996 Ford Taurus idle jumps up and down (shakes the entire car) only when starting warm?

Hey There.

New member
Engine is the 3.0 Vulcan and it would shake immediately upon start up and will eventually go away even if I don't give the engine gas.
I have a 1996 Ford Taurus. When I start the engine warm (never does it when the engine is cold) sometimes the engine idle jumps up and down rapidly shaking the whole car. If I rev up the engine a bit to like 2,000rpm and hold it there for about 5 seconds, the engine runs like brand new (engine shake goes away). What is weird is it only does this on warm starts and I have to shut the engine off for about (30-90 minutes) for it to do this? Where I do start to look?

Note: The vehicle has been doing this for over 4 years. I was just wondering if there is something I can easily fix because it doesn't impose much of a problem.
 
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