W210 E320CDI Transmission Shudder

[ShinyF1]

Probably have done the wrong thing, but in a rush changed from 'R' to 'D' and accelerated too quickly today, and got a huge 'shudder' through the drive train as 'D' engaged.

Am I likely to have caused any permanent gearbox damage, or is it a big warning to 'not be so bl**dy stupid' in future?

Thanks

Sean