Yes, there is. Toyota's hybrid electric continuously variable transmission (eCVT) has all the time the only single gear (forward and reverse in the same) selected. Even though the power in the end comes from a gasoline engine and not from the battery in the long run, and even though this isn't a series-hybrid that would do mechanical-electric-mechanical conversion with all its losses, this system can switch to reverse gear at any speed, with no damage, at least in theory...
The reverse is just a reconfiguration of the computer controlling the transmission to apply backwards power, instead of forwards power.
Now, the question is whether it will allow you to do that at high speed or whether somebody has programmed something that would prevent doing so. I haven't tried shifting to reverse at high speed going forwards, but I can confirm that shifting to reverse going low speed forwards works, and it truly works in the way you would expect it to work: forwards momentum first decreases, the car comes to a stop and backwards momentum then increases. So, when you have the reverse gear selected and you are going forwards, it acts as an additional brake until you come to a full stop, after which it acts as a reverse gear.