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I believe it doesn't matter with these transmissions, I've done it, my dad has done it (a lot, he's used to manuals), never effects them. Our minivan has a "electronic automatic" and we can turn it off while its in drive too, its also supposed to have a thing that won't allow you to shift without the foot on the brake, but you can no prob, the thing doesn't even work.
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-diesel is not just a fuel, its a way of life- 
'15 GLK250 Bluetec 118k - mine - (OC-123,800)
'17 Metris(VITO!) - 37k - wifes (OC-41k)
'09 Sprinter 3500 Winnebago View - 62k (OC - 67k)
'13 ML350 Bluetec - 95k - dad's (OC-98k)
'01 SL500 - 103k(km) - dad's (OC-110,000km)
'16 E400 4matic Sedan - 148k - Brothers (OC-155k)
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