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It can, however most modern cars have a switch that prevents that from happening say late 2000? it completely bypasses the parking gear but, it not it can really do Lots of damage

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Q: If you shift your car from reverse to drive while rolling will it mess up your transmission?
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Can you shift from reverse to drive without stopping?

Generally shifting from reverse to drive, while still rolling, is possible but not recommended. This places a lot of stress on the transmission and other components of the drive train.


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