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My LX570 does not stall if I have not come to a complete stop in reverse before putting the tranny in drive. It does about what all other vehicles I have owned and stops the backward motion and starts going forward. We are only talking a few miles an hours and the stress doing this would be far less than applying even half throttle when starting from a stop.
The LX's transmission is much more heavy duty than the RX's. When you are applying half throttle starting from a stop, the gears on the tranny is mate already. When you roll backward and shift to forward, it is like taking one gear that is spinning and slamming it into a stationary gear. I am sure I am over simplifying the gear thing, but there is a difference between the 2 scenarios.