Itchy Foot Strikes Again!!! I've had the itchy foot (felt like an ant was biting me) while driving a manual...not fun. But then again you need two feet to drive a manual

....$2700 buys one heck of a lot of foot powder
Really, I'm just kidding. Sorry to hear about the mishap with reverse (and the repair bill). It is true that you you can go from a slight roll forward to reverse (but still not good for the tranny), but 40 mph forward to reverse is a little outside the design parameters.
Did this happen in the '99? It should have had a safety to keep reverse from engaging while going forward that fast....maybe not. I would have put it in there if I were doing the programming for that completely electrically controlled tranny...some logic like "if output speed sensor is reading greater than 1 mph, do not engage reverse". I'll explore that more when I get to the 5R's valve body.