Given that MTX's (X=transaxle) aren't as robust as manual transmissions, I'd err on the side of caution and take the extra few seconds to shift from reverse to 1st or 2nd to first. You can also try shifting into 2nd from reverse before shifting to 1st. Also double clutching will save synchro wear but for anything 15mph or over you can get away with 2nd gear if you don't have to come to a complete stop. At any rate, good luck at the shop.
Karl
