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Rolling from R to D

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I use this all the time. Backing out of a garage or parking space, just flip the shift lever, stab the pedal and go! This is not a problem for the motor, or drive electronics. As mentioned, no switching of gears involved. One should be cautious that you don't accidentally back into something during that split second between shifting and forward motion.
I know on an ICE this is bad to do. It seems easy to do on our cars, how bad is it to go from R to D while the car is still rolling back a little.

It won't hurt it but it's more efficient to use the brake to come to a stop before changing directions. Electric motors are not very efficient at very slow speeds and you are essentially using the motor and batteries as a brake.