The "diesels like / need to be run nearly flat out all the time" thing is absolutely a myth. But extended idling isn't great for most engines either, particularly if that's a large portion of its operating time. Combustion temps (and exhaust temps) are much lower at idle, particularly on diesels. So things don't burn as cleanly, you get more carbon buildup (especially in turbos, etc.).
Some engines handle it better than others (modern common rail systems usually handle idling quite well), and it can take a while to be an issue. At the worst end of the spectrum is something like an old Detroit that will start to wet stack and smoke if idled too long, particularly if anything is in less than perfect condition or adjustment. Even that isn't a real risk of permanent harm unless it's run that way all the time. You may just get some extra smoke when you throttle up after trolling until the unburned fuel / oil junk burns off.
Periodic runs under moderate load will burn the buildup off. It doesn't take a WOT run to get things hot and clean, just a moderate amount of load.