As long as the engine is up to operating temp--no problem running at lower RPM. BTDT is correct that the modern gas 4 strokes which get 8,000 to 10,000 plus hours are in commercial service where they are run daily--such as CG, Fishing Guides, tow boat operators etc. Often these idle for a long time, but they also have to work hard on occasion.
Diesels are entirely different, and should not be included in this discussion. Some are designed to run at 1800 RPM for years. Others run at 120 RPM max--some new modern high speed like up to 3500, and will have problems if not run up occasionally. One Delta Ferry runs the Diesel 24/7 at 1200 RPM for 2 years (17,520 hours) and then major's it. Never a failure in many years. I have a friend who had an 1800 RPM generator, which had 27,000 hours on it, and never had the lower touched--one valve job at about 14,000 hours. As far as cylinder temp(not sure that is pertinent, but the self-ignition temperature, in the diesel is what ignites the fuel--thus is higher than in the gas engine. If a gas engine has a self-ignition temperature equal to or higher than the fuel, there will be pre-detonation (or "knock") bad for any engine!. Physics Handbook shows ignition temp of #2 diesel to be about 250*C, and gasoline 254* C.
I run a variety of speeds, but as mentioned the Honda are basically car engines, But they are being loaded a lot more than a boat engine at 6 to 8 knots.
I would have no hesitation to run a 150 Honda (or 90) at 2000 Rpm all of the time--as long as I had a temperature gauge and it was up to operating temp--All of the new larger engines allow most of the engine computer information to be shown on the primary MFD, so that is not an issue.
Often factory's put in warnings to be sure that they are covered under warranted issues--If one was really considering running a 150 at 1200 RPM (or any fixed speed) all of the time, it would be prudent to call factory tech and find out what is necessary.
What I find interesting, (I ran thru a number of Honda manuals, trying to find what Foggy mentioned, without success)--is that none said "don't run at full throttle all of the time"--what was mentioned was don't run at full throttle all of the time for the first 8 hours.....so is it OK to run at 5700 all of the time? I would not do that, but it looks like some folks do!