Sounds normal to me as well. If the ambient temp is below freezing, the coolant is below 200*, and the intake air temp is below 66* then after 2 minutes of stationary idle the rpms will ramp up to 1,000.
On startup there are 2 profiles.
~32*F and lower the rpms will ramp up to 1,000 after 2 minutes of stationary, uniterupted, idle.
~15*F and lower (I have seen it as high as 23*F) the rpms go to 1,000 as soon as the enigne starts .
And from what I have seen on my SGII you are correct, the MAP sensor is the sensor the ECM uses for computing fast idle and grid heater operation/timing.
With my winter front installed it is VERY rare to get the fast idle after the enigne is running becuase the IAT's don't drop below 66*F very easily.