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The engine idles faster in neutral because it isn't applying any force to your wheels. When you place the gear selector into D, the engine begins spinning fluid in the torque converter and attempts to move the wheels, which puts a load on the engine. This is the reason the car creeps forward when you release the brake pedal while the car is idling.
Idle RPM depends on factors such as speed when coasting and temperature. My car will idle at 2000+ RPM if it's cold enough outside. Not sure what is considered normal for your car.
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