My old 94 made in Japan Camry had the same problem. I noticed it's just idle speed is too low, then engine die because engine has not been warmed up.
My current 2002 Sienna has the same problem. It's idle speed is too low immediately after the engine is started, then engine went to dead. After I press the gas paddle to warm up engine for 1 or 2 minutes. Then, it's OK the start.
I guess this is may be relevant to some of the temperature sensors(coolant temperature or air temperature sensors).