They'd have you set the idle in park unless specifically mentioned otherwise, as they don't want the car running over you in drive as you adjust it.
Back in the 80s the EPA had a separate "high altitude" certification that, IIRC, was for over 4000 feet.
The way the cams are tuned etc means your car will start making a lot less vacuum under the idle RPM. Less vacuum means your fuel metering thinks there's a load on the engine and starts putting more fuel in, so, counterintuitively, a higher (proper) idle will save gas and emissions. Way back in the day mechanics used to set idle to max vacuum.