What engine is in the burb? Some have different ecm programming for the iac (idle air control) and wont fully idle down till in D.
Also, it will idle down regardless of closed loop operation or not.
Funny how you mention the idle down until put in drive....did that for years , thought that was just how it went, until I was in it idling in park one snowy day 20 mins or so defrosting the windshield,accidentally moved my column shifter(not out of gear but closer to reverse)and didn't that bitch drop down to 700 from 1100.....oh happy day, I figure misadjusted neutral safety switch, I now get in it, slightly move my column shift,start it, 7 mins later,bout 750 idle. So now I chase the time....I think I'm anal.....or at least addicted...lol
These will idle faster longer than most modern vehichles.