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