It's fine at idle.
Drop to idle, but other than that, don't worry about it. If they didn't design their transmission for a rapid switch from R to D, then they suck at transmissions. ZF does not suck at transmissions. Understatement of the year.
Besides, on modern cars these are "shift-by-wire" - you're only asking nicely, and the computer grabs clutches and bands when appropriate.
Understand button gating; don't push the button!
Automatic transmissions are gated so certain moves are "No Button", and you should learn them and cultivate the habit of never using the button for these moves:
- Reverse to Neutral to Drive
- Drive to Neutral
- L1 to L2 to L3 to Drive to Neutral (if linear)
That gating is both a timesaver and a protection.
These are "bump" moves - just palm-bump the shifter no button. From R to D it's a bump. Done.
At first cut I said "slap" but slap-shifting is something else entirely.
More importantly, from D to N is also a bump. Train that. It is useful to know in an emergency like loss of engine power, or slip/slide where push/drag from the engine is preventing traction. You can get rid of it instantly with a no-button bump, and that makes it easier to stabilize the car.
That was done with great thought - to remove any worry of selecting a gear you might not want, like R or P when you are moving forward.
On a linear P-R-N-D-L3-L2-L1 progression, the gating also gets you in a hurry from low gear back to D, without having to look at the shifter. You simple double-bump - bump clear up to N, then bump back down to D. No button! Don't take your eye of the road and oh-so-carefully fidget it from L to D. That is a distraction.
Once you get used to this gating being there, it becomes second nature to do these simple moves. No risk of overshoot or wrong gear since you're not holding the button.