When I jump in the car and leave for somewhere (not often these days!), it seems that my RRS "holds it's gear" to higher revs than I might expect for the first 10 mins of so of driving. Granted, I do live somewhere very hilly but it does seem to me that 3500 rpm up not steep hill is a bit odd when I know 2000 in a lower gear is just as good. Any ideas what's up?

It's warning up the gearbox oil

Yep just warming everything up, perfectly normal. 2006 2.7 TDV6 HSE in Cairns Blue.

3500rpm up a minor hill is a bit excessive. We have a hill out of the village here and mine holds 2k up that when cold. 2012 SDV6 - it's missing a couple of cylinders
2008 TDV8 - it was a labour of love and is much missed

I've noticed that on first start up, when I drive through our village at 30mph/2000rpm on the accelerator it holds 4th? gear (maybe 3rd), but if I engage cruise control, it changes up to about 1500rpm. As has been said, it only does this until warm. I assumed it was normal mechanical sympathy.

I live at the bottom of a long gradual hill and get the same thing from cold, I can sometimes get it to change up by easing off the accelerator slightly. I’m not a fan of reving the engine too hard from cold. Steve

2005 2.7 TDV6 HSE, ongoing project.
1998 Volvo V70 R auto FWD, mothballed future project.
1999 BMW Z3 (owned from new) garage queen.

The slightly higher revs is a strategy built in to the system to help speed warm up and thus reduce emissions. Getting warmed up quickly also helps to reduce engine wear if it means oil gets warm sooner and so better at lubricating things.

It's worth remembering that making a cold engine work hard at low revs isn't that great for it either.

Swings and roundabouts. 2012 SDV6 - it's missing a couple of cylinders
2008 TDV8 - it was a labour of love and is much missed