The drivetrain should load when you put it into D or R. As for abrupt shifting into D and then into R, I wouldn't do it. It's not healthy for the transmission to be shifted into R before it is done fully engaging D. Doing it many times on any car will result in an occasional bang. If you don't believe me, go out and try doing it a dozen times
We like to think that the ZF 8AT on this car is something magical but in the end it is an auto tranny and works like every other one out there.