Then the truck is driving the engine - engine braking - via the transmission.
Consider the difference:
OD and D, the trans "drives the engine" so feebly that, while the engine doesn't go down to idle, the engine turns considerably slower than if the engine were maintaining an identical steady speed.
The engine would have to speed up to hold whatever speed the vehicle is traveling at.
The vehicle slows down similarly to a manual-trans vehicle when you release the throttle and kick in the clutch pedal. In other words..."Coasting".
L2 and L1, the trans drives the engine so vigorously that the engine RPM is at--or nearly at--the same RPM as if the engine were maintaining an identical steady speed.
The vehicle slows down almost as fast as a manual-trans vehicle if you release the throttle but DON'T kick in the clutch.
The OP has stated that his engine DOES return to idle speed when off-the-throttle. Clearly, no engine-braking there.