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I have always gone by ear, and drop it to a relatively low stable idle.
But Jerry has a good point... oil pressure! If the oil pump isn't generating enough pressure, bad.
I don't have a tach. I do have a tach I use on my chainsaw, which is triggered by induction (a lead wraps the spark plug wire). But I might just go by ear.
1. I never let it sit idling for more than a minute and don't mind letting it run HIGHER than normal while sitting/warming up for better oil pressure.
2. Then, I will set it for lower rpm for when I am actually riding it. It generally doesn't sit idling for more than a few moments during a ride.
I always adjust the idle when I ride it, first to elevate the idle during a brief warmup, and then to set the idle once warm (warm enough).
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