In Washington State it is illegal to coast in neutral in a pick-up or less. It is illegal to coast with the clutch in or in neutral in an OTR.
As far as detrimental, the trans is still being lubed by the pump, but with the the engine at idle, the flow rate might be too low.
As far as putting it back in drive, I don't know the programming of the transmission: i. e. what gear it starts out in when placed in drive. I would assume that the computer would be smart enough to not try to shift in to first at 70, but some of the stupid things being done by vehicle computers still amazes me.
I'm no expert by any means. I know just enough to get myself in trouble. I have a pretty good understanding of mechanics though.