I got into the habit of going in Neutral during turns and sometimes if I want to cruise for a bit without the trans slowing down the car. However, someone told me that shifting from neutral back to drive should only be done at a complete stop, because it can warp the gears. I tried to find this info online to verify, and I read that it is designed to only be done at 'idle'. So should I only shift from Neutral to drive at Idle RPM speed, or does the car itself also have to be at a complete stop?

should've just gotten a manual, autos seem way too restricting and boring; everytime you want to do something you can't without worrying about blowing up the transmission.