I don't have much problem with dedicating a couple 20 amp circuits to the kitchen. It is somewhat silly to prohibit lighting outlets to be on them, even if you limit lighting outlets to the same room. We can put all the kitchen receptacles along with all the receptacles in a dining room, breakfast room, pantry, etc on just those two circuits, but add just one undercabinet light to either of those circuits and you have compromised the safety of those living in that dwelling??
Still should be up to designer and not a code requirement IMO. I myself would likely keep lights off said circuits in most instances, but like I said, a situation of something already existing and you want to add one undercabinet light that uses maybe 10VA max, just don't seem logical to me to not put it one of those outlets if it is convenient.