Like i said...
I must wait the engine idle first.
Of course, i press the brake pedal first. And then change the gear.
Is true, from D to R, i must pass N first.
But... The Engine is idle or not.
We can see, from car speeding at D, and we press the brake pedal until car stopped.
You can see the rpm indicator.
It will Stabilize the rpm until maybe 700 rpm to 750 rpm.
Before we get the 700 to 750 rpm.
I should not to change it to R.
If from N to R.
The engine has been idle first.
And slide to R.
Engine not died.