I have noticed the same thing through the years, and there seems to be no pattern. It normally happens when I am driving a long time on the highway, and the idle seems a little lower than when I started. I figured the fuel expands, reducing the density, and thus the power production per cubic millimeter pumped. With the pump set to idle with, say, 90deg fuel (relatively cool, all things considered), it can idle lower with 150deg fuel.
And then I've had other trucks idle the same speed no matter what temperature anything is. Weird. Makes me think the slower hot idle could be a sign of beginning pump weakness (?)
Daniel