Hi there,
to start with if your kangoo starts and runs, i would honestly say the timeing is spot on. the problem you are having sounds just like the one i had also. my kangoo (same age, 2001) started to play up as like yours.
At the back of the engine under the air breather housing is the inlet manifold, looks like a big tube withing allaround it. attached to this tube are two sensors. on is know as the idle controle valve. replace this part!!!!! they are around 30-40 pounds best place to get one is the motor factors. dont go to renault because they will rip you off. two screws hold it on and a electrical plug.... im 100% certain this is the cause. my kangoo now runs like a dream after replacing this.
hope this helps
kind regards
Bert
July 2009