"Why is it considered abuse if you let it roll back slightly ? I have done it in all my cars and I had no problems."

Simple mechanics I guess. Making sure the car is in a complete stop before shifting from Reverse to Drive makes it easier for the transmission gears to engage.

I have the 722.6 transmission as well and I don't dare to abuse it, let alone shift to drive while the car is still rolling back. A quick search may be quite enlightening.

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1998 C230