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I haven't done it (gone into reverse by accident) without knowing about it (the beep or the "R" on the dash) but I have gone into R without meaning to several times on the V6 manual. It is too easy to do so IMHO, it should have an extra collar on the shifter that you pull up or push down to get into R (I don't know the real name of this type of control).
I usually go into second then up to find first as has been previously described.
I have owned many cars with manual tranny's, they all have their own quirks. The LS is a smooth shifter, one advantage of the power the v6 has is it will pull in any gear, it is hard to be in the wrong gear, the rascal just pulls:-).
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