Yes, it is ok. It is similar to a regular automatic transmission car and shifting that car into Park from Drive.
Below some speed threshold it’ll shift to Park, and above that threshold it’ll ignore you. That said. I don’t think it’s good to do this: in particular if you’re just under the threshold, I think that shift to Park would stop you with an unhealthy jolt.
Does it ignore you, or beep twice and pick Neutral? I know if you pick R from D, above a certain threshold you get the two beeps and neutral. Or at least that's what Gen 3 does. I guess that's where we assume they chose the threshold somewhat reasonably. Limbers up the ol' motor mounts.
That doesn't happen on a Gen 4. As long as you're stopped, you need to hit "P" button - it won't do it by itself below some speed threshold.
I would do what's customary in Bangladesh if I was driving there. It certainly won't hurt the car. Around here it might generate a few horns and upraised middle fingers (or worse) while you press the brake, put it in Drive, and move your foot to the accelerator pedal. Not as bad though as what I see almost every day here. Sitting at a green light messing with your phone till one of the drivers behind the one in front happens to look up from their phone and see the light turning yellow.
Yes, another option if you have the DRCC is to engage it and it will go into waiting while stopped behind someone else. Works great for drive thrus also!
