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Re: Freewheeling in "D" or "R" at idle
The symptoms appear to indicate that the problem is engine speed related. The TCU relies on a signal from the ECU in this respect, which in turn receives signals from engine speed sensors. The crank angle sensor signal would be the most likely culprit.
These sensors deliver a series of pulses when magnetically activated. It is possible that at low RPM there is insufficient signal being delivered, but this is not a likely scenario. However you have an intermittent fault, and therefore you must suspect the unlikely.
Run an engine diagnostic check as per the how too information. You will be looking for code 11 or maybe 13. Unfortunately as the fault is intermittent this check can not be absolutely relied upon, but will be the first line of approach.
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Trevor, New Zealand.
As a child, on cold mornings I gladly stood in cowpats to warm my bare feet, but I detest bull$hit! 
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