That's my experience as well. I've thought that our i3 was moving slowly enough (just crawling, really) and had my gear change refused with a message telling me to press the brake pedal.I find there is 0 issue going from D to R or R to D without the brake, nor should there be, since there are no gears being changed, just reversing the energy current. If I’m moving slowly the car does it, I did try once moving a bit more quickly and I seem to recall it wouldn’t do it unless I slowed down a bit more.