Since the 7AT won't change gears if it would lug or overrev the engine, I'd guess that it also will not go into R or P when you are moving forward. The FSM should have details.
If you really want to test it, get rolling at about 2-3 mph (just enough for the car to think it's moving) and slide the stick into R. If it will go into R, it shouldn't do much damage at that speed.
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