In my early XJ's (pre 91, what year is yours?), loose intake bolts, would raise the idle as the motor warmed up. Never did get up to the 2000 RPM range, I usually delt with it when it approach the 1000-1200 RPM idle range.
Vacume leaks (leaky lines), have raised the idle pretty high at start up, but it usually settled in to an acceptable idle, though the motor did run rough.
I´ve heard of faulty throttle position sensors and sticky idle motors causing problems, but so far I´ve escaped those problems.