Hummer has a bulletin on this condition that you are speaking of. If you put it in reverse while you are still moving forward, even if it is just barely creeping, the engine will stutter while going in reverse. This was designed into the vehicle to keep things from getting damaged if shifting into reverse while moving forward. If you are completely stopped when shifting into reverse it should be fine. I agree that they could have programmed it to where it doesn't do that unless you're moving faster than 3 mph or so, but that's not how they did it.
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