I am referring to an automatic (bad choice of words using "put it in gear", sorry), stick is another ball game, no need for throttle especially at a fast idle. I would rather not put an automatic into drive or reverse when the engine is running at 1,000 rpm or higher.
In, older, higher torque engines, it has cause premature mount and universal joint failure. But my experience base is back in the 70's on that type of effect.
I find with my car if I blip the throttle and bring it up to 1400 or so rpm momentarily, it idles down.
I start it, walk to open the garage door and put my laptop, etc. on the back seat, get in, give it a quick tap of the gas, let it idle down, back out and then let it sit while I get out to close the garage door.
I personally let me engine warm-up for about a minute or so to get the idle down before putting in gear. Since both my cars are computer controled and so on.... I want the oil to circulate through out the engine secondly. Here in California we don't have the frigate temperatures you have back east. My 89' Camry manual indicates it warm for 20 seconds and then drive slowly until your up to operating temperature.
I too wait for the RPM's to slow down to at or below 1000 and take it easy for a mile or two. I even pause in Neutral as switching past Reverse from Park raises the idle, but it settles down after a few seconds.