I just put it in gear, even at 55-60mph.
Fluid shear in the torque converter prevents the "shift shock" that you would expect. It's like turning a fluid-clutch-type cooling fan... The more power you apply to it, the more times it will turn over before the hub catches up. This results in more heat applied to the fluid, since shear causes heat to build up quickly, but it's less heat generated than just starting from a stop.
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