Get a tuner and adjust the Idle While in Drive RPM up to where it idles in Neutral/Park.
Same issue on my 12' 3.5L Lariat. I noticed this a few times and finally started shifting into Neutral at long lights/stop signs and doing so noticed the RPM gauge jump a touch like maybe 50-100 RPM.
Had it to the dealer a number of times for the issue, told me it was normal, all other trucks did it...yep wife's 13 Platinum 3.5L, now16 Platinum 3.5L do it as well. they even took me in a test drive on a few others and I'd notice it.
Didn't like the 'normal' response so got the tuner and increased rpm while in drive and problem gone. Can't recall exactly how much I increased it but it was around 100 RPM from memory. Trucks at other house or I'd go check.
Maybe the dealer would be willing to increase that for you, but unlikely based on my experience.