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Letting your car idle isn't actively bad for the drive train, but it certainly does put strain on the engine, additionally engaging the AC will put the engine under load, and work the engine harder even though you're not driving anywhere.
1 If the car idles rough or cuts off at low RPM or idle, the cause could be a failing O2 sensor. The O2 sensor is out of the loop at full throttle and will not affect the way the car runs.  A rough idle can also be caused by a problem with the air flow box.