A lot of folks reiterate engaging the driveline only at idle d/t worrying about shocking the system with a harsh engagement... a LOT of manufacturers don't seem to want heavy loads transferred to the tractor engine at startup. I'm not sure if the difference is in the clutch type, driveline size, or what... but if YOUR manufacturer recommend engaging YOUR unit at a particular RPM, then that is the recommended method for your particular situation. There are subtle and not-so-subtle design differences between and within manufacturing lines. There is a certain logic to not shocking the driveline, as there is to not lugging the engine at low rpm's... where to draw the line isn't a mystery when your manufacturer spells out their recommendation in the manual. Choosing not to follow written directions from the manufacturer is up to you, but they don't print manuals and make recommendations just to keep consumers on their toes and look busy, and tractors aren't getting any cheaper... I'd rather damage an implement or clutch than an engine.