Is there any security concern createin is granted for PUBLIC on SYSTOOLS, SAPTOOLS, NULLID and NULLIDR1 and RA?

That depends on your environment and how you manage access to the database.

PUBLIC has not permissions to CONNECT;

If you can guarantee that this (no CONNECT privileges for PUBLIC) will never change, you can grant all other privileges to PUBLIC without any problems. If you want to be safe, I would revoke all those privileges.