Flanders,  you need to reread what Peter wrote.   Where did he say "throw it into gear right away"? Homer would even understand that.  He said wait 30 seconds, start driving, very light on the throttle.
Mohammed Bouchama from CarHelpCanada recommends the same procedure.  I've been doing this for years and have had only one transmission failure (no engine problems), in the summer, at 315K km on a 10 year old 94 Taurus.