The issue is oiling...
there are many components inside of an engine, not all have their own pressurized lubrication, things like timing chains and cylinder walls are "splash" lubricated. With the low volume of oil being pumped around at idle, these things aren't getting much "splashing", but at the same time they aren't moving very fast. I've never head of a warmed up, broken in diesel engine suffering internal damage at idle, but it's safe to say it doesn't hurt anything to rev it up a little bit for some extra lubrication if it's going to be sitting in neutral for a while, for example when charging batteries. Just be careful not to shift it into gear!On another note, (not really boat related), those new audi le mans racecars with diesel engines essentially get an extra gear in their transmissions than their gasoline counterparts, because while a high-performance racing gas engine may stall below 1800 rpm (or higher!), the Audis can go below 500 without stalling, and that lets them use a 1st gear equivalent to the gas engine's second gear!