Actually the opposite is true.
In the old days, when my dad turned a wrench for the USAF, it wasn't unusual for an engine to have a low idle speed of between 400-500 rpm.
He figured out that the lack of speed of such a low idle was causing the engine to run at too low of oil pressure and that was causing undue engine wear, shorting the TBO time.
He turned up the idle on all of the engines he was in charge of to 600 RPM (which seemed unusually high in those days) and the engines lasted longer because they could maintain a more sufficient oil pressure.
By the 1960's, a 600 rpm low idle speed had become pretty standard fare for all internal combustion engines.
By the 1980's, the Japanese had enough R&D under their collective belts to garner an 800 rpm low idle for most of their engines and with Mazda, they actually figured that if you set the high idle very high (about 6000 rpm, from what I could figure) and run it for only a very short time (about 30 seconds), then the engine would kick down to its 800 rpm low idle and function fine because it had already attained sufficient operating tempreture.
