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Most cars handle the shift into Drive with no problems. The only one that gave me issues was an '08 Kia Rio. (It had other problems anyway; if you shifted from Reverse into Drive if you were rolling backwards at all, it would lock up the tires. I've never had an auto do that before.)
I'll echo what others have said. If it finds the right gear and goes into Drive relatively smoothly, you're fine.
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