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yes, when in neutral and slowly moving forward, you can shift right in D.
just keep off the gas when shifting.
Shift to R in error = $$$
Actually, with the "shift-by-wire" ZF 9HP transmission, attempted shift to reverse while rolling forward causes sirens to blare and dash warnings to flash, but no action on ill-advised "request". It pops into neutral instead. But test this at your own peril.

All of this weirdness is because the push-button shifter is an unintuitive piece of crap. IMHO. >:)
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