Not sure when this may have happened, as I just came back to the game, but it seems that at least burner/yellow inserters with 'default' distance settings that have their outputs rotated 90 degrees to either side are placing too close.
This only appears to be the case if the rotation it is going to drop to is 90 degrees from the original position, and if that drop position would be vertical. Horizontal drops don't appear to have the issue. Moving the pickup location 90 degrees also does not cause it.
I'm also unsure if it's happening with higher tier inserters, as I haven't progressed that far yet. I have also not researched the near or far inserters, so it's just with the stock rotation settings.
https://imgur.com/1c20bOT < Screenshot showing the issue.