So I assume you don't think it's not normal either. It's really not too bad, and a passenger would probably never notice, but it just seems a little low to me. I recently acquired my LX with 45k miles, and I honestly wouldn't be incredibly surprised if this was normal, though I would be a bit disappointed.
To answer your questions, this is with A/C either ON or OFF, and no CEL or anything else abnormal. Just very slight vibration and low RPM. If I shift to "N", of course idle returns to normal at 700 RPM. This is what lead me to believe new ATF would help solve, but no difference.
I'm still in the process of getting her up to par in terms of maintenance. So I've also drained diff/transfer case, changed air filter, cleaned MAF sensor, and some other unrelated stuff. But I haven't cleaned the throttle body yet. I'm also currently running some Techron concentrate in the tank, but the low idle is still present after burning a few gallons. I also have a bunch of BG 44k so maybe I'll run a can of that through.
Can you tell me where the RPMs are typically at when stopped in gear? Perhaps 600 RPM??
I have the 4 speed tranny, by the way, in case that matters.