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Rev match!
I rev match with my auto when shifting back into drive. Don't need to be too accurate as the torque converter absorbs a lot of shock. More critical if you've coasted down a steep hill and got up alot of speed.
Also I assume you are shifting into neutral when stopped, if you take your foot of brake before shifting into drive (you should) you'll feel the kick as first gear kicks in - ironically going neutral to drive in coasting shouldn't be any worse than this. Your tranny is built for a bit of driveline shock, nothing to worry about.
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