Just the other day, I was driving the G37 and using the shifter to up and downshift instead of the paddles, and when I reached over, I bumped it out of manual into D, and "upshifted" into neutral, which caused me to rev up pretty high. Except I instinctively put it back into drive too soon, before the revs died back down completely (was probably around 3.5k). The car jerked as it went back into gear and I got extremely worried. But nothing bad has happened from it. And I think if you let the engine revs die down first, it wouldn't be bad to the car at all.
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