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I mistakenly shifted from reverse to D while still rolling back at a few MPH(not enough brake action on my part in a speedy maneuver), the transmission did not engage D, it put it into neutral instead. On a rental cruze I put car in park while rolling at 5mph, same thing occurred.

Nice to know it will save itself from at least some stupidity.

To address your concerns, my trans has always had a crappy 2-3shift when at 4000-4200RPM. Above that RPM its smooth or below, but its almost always a bit abrupt/harsh at that RPM, only that gear though. With bumping it into neutral, nothing to worry about, just get off the gas to shift back into D. I like to use neutral on a few routes I drive(longer coasting) and just slide the lever back to D at whatever MPH I'm at. I have bumped neutral a few times, I just wait a few seconds for the RPM to settle down to shift back to D.
 
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