Hello, Forum

I have a 2002 Toyota Sienna CE with 143,000 miles. Auto Transmission

Had it for about 5 months now. (sale price was 1800 bucks) Always starts up. Doesn't shake. Runs and drives. Passed smog. But, it ALWAYS idles really high at start up if the vehicle has been sitting for more than an hour. Hot or cold rain or shine. I don't remember if it was like this when I bought it, so it appears to have started about 2 months ago. Also shifts hard into R from P and from D to P.

Additionally, cold or hot the ATF fluid is all the way up to the hot hashmarks of the dipstick, but there aren't any leaks in the tranny. (I might have to send in some pics on this one, b/c there's always the chance that I might be "dipstick illiterate" on this particular model)

The power steering rack has a slow but noticeable leak on the passenger side bellows. The vehicle also makes a faint but noticeable whirring noise while driving, as the RPM's climb. (the whirring noise sounds like a person inhaled helium and is softly saying the word  "WEEEE" out their nose, almost like a high pitched Kazoo type sound) Seems to be coming from the area of the power steering pump, low passenger side, right next to the leaking bellows.

While driving, I seem to hear it most with the driver's widow rolled down and I'm in the fast lane next to one of those traffic dividing center islands, although if another car is right beside me, I can hear it as well.

If there's nothing on either side, I can't really hear it that much without getting out of the car, vehicle idling in P, and putting my ear next to the passenger side wheel well.

It's not throwing a check engine light, however, the BRAKE light on the dash never switches off and the ABS and tire inflation lights remain illuminated. There's also a high pitched rhythmic humming sound like a WIRMP WIRMP WIRMP noise that gets faster as the vehicle's speed increases (noticeably different from the kazoo sound) when the vehicle gets past 10 MPH up to about 40 MPH. The noise gets louder on a left hand turn, and at freeway speeds is practically inaudible. Appears to be coming from the passenger side front.

Because of the ABS and other lights illuminated and the passenger side rack leak, it seems to me that the humming sound is coming from the passenger side wheel bearing, so I'm interested in finding out if there's a inexpensive way to be sure that it's that, so I don't start replacing parts willy nilly.

That said, I've never had a vehicle that idles so high at start up, and was wondering if that's what's causing it to shift hard. I tried the Toyota approved "resetting the idle". technique, but haven't had any luck in getting the idle to be like a normal car that idles at about 1500 RPM at start up.

The vehicle doesn't have a tachometer, but if I had to guess I'd say mine goes to about 3000 RPM and takes at least five minutes to calm down to about 2000, but then I put it into R from P and P to D it goes in with a noticeable clunk hard shift. But, once the idle comes down it'll shift a bit smoother sometimes but not always. Plus sometimes, the longer I drive it, it'll start hard shifting between 2nd to 3rd gears.

Lastly, every time I turn the key to the on position, after a couple of seconds, there's a low pitched BIRMP sound that comes from the engine compartment. I'm used to such noises coming from the fuel pump.

Is there some sort of secondary fuel pump, or is that noise an indication that a part related to the fuel system is failing?

Could an overfilled A/T transmission cause the shifting issues without leaking?

Should I replace the ATF? (I have no idea if or when the previous owner did or didn't) 

Would disconnecting the negative battery cable help bring down the high idle?

Is there any danger in just replacing the ATF without changing the filter?