It's desirable to have as low a tick over speed as possible, both for environmental / fuel consumption / noise / comfort reasons as well as to reduce creep when stationary in drive.
While the gearbox is in neutral, the torque convertor, fluid, and gearbox input shaft will largely be rotating all as one unit, and the only real external load on the engine is from the drive belts at the front, and the gearbox oil pump at the rear of the crank. There's relatively little damping of engine speed fluctuations by these loads.
However, when you put the gearbox into drive, the input shaft stops rotating, and suddenly, the engine sees both an increase in load (which the idle controller can compensate for), and also an increase in the damping effect of the fluid that is now being stirred up with the difference in speed between the internal parts of the torque convertor.
So, just when it's desirable to reduce engine speed to reduce creep, the engine becomes better damped, and so the idle speed reduction can happen without upsetting the passengers by being felt as a noise, vibration, or harshness.