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Just my opinion, but I think you're OK with shifting into D as soon as the engine is running in the situation you are talking about. Not OK for the first start when the engine is cold. Again the key is being smooth.
Even if you can't see the light on the other side, you should be able to read traffic and have a feel for how long they've had the light. As the light turns yellow the traffic flow should be slowing down and maybe people are getting ready to make their left hand turns and such. It's about paying attention to everything that's going on around you, and should be a part of every driver's routine. Defensive driving techniques go hand in hand with ecodriving techniques.
I'll turn off at a long light or a train crossing or construction delay, but I definitely don't turn off for every red light.
Look at the big picture.
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