Popular differences and generalized Sidon sets

For a subset $A \subseteq [N]$, we define the representation function $r_{A-A}(d) := \#\{(a,a') \in A \times A : d = a - a'\}$ and define $M_D(A) := \max_{1 \leq d < D} r_{A-A}(d)$ for $D>1$. We study the smallest possible value of $M_D(A)$ as $A$ ranges over all possible subsets of $[N]$ with a given size. We give explicit asymptotic expressions with constant coefficients determined for a large range of $D$. We shall also see how this problem connects to a well-known problem about generalized Sidon sets.