2004 RAV Hesitating from stop

My 2.4 Rav when cold will hesitate from start till about 1,500 and 2,000 revs in first or second gear. The fault does not occur when accelerating hard. I have had it checked out and was told there is no computer fault. The mechanic cleaned air flow meter and throttle body. When I drove the Rav from cold the next day still no better, so not happy. Any help would be greatly appreciated.
:confused:

I have a 2006 Rav4 and had the exact same problem, and there was a download from the dealer that fixed it free, my rav was still under warranty.
Good Luck.