[elhigh]

I shift the Forester into and out of gear at speed all the time. Doesn't seem to hurt it any. Rev match is simple: observe what your engine is turning at a certain speed; when you coast down to that speed, jazz the gas to spin the engine up to about the right revs, and drop it into D. Tranny hooks up with minimal jolting.

Don't be at high throttle positions when you drop into gear or the tranny may see the low vacuum as a suggestion for a lower gear - VERY exciting, and not in a good way. I tend to buzz past my engine's set speed, then let it meander back to the correct revs and engage it while the engine is coasting down (sometimes under very light throttle, or else it settles back to idle too quickly) - guarantees highest gear on engagement.

Try it a few times at low speeds on a deserted road to get the feel for it.