It's entirely possible.  Consumer Reports magazine often notes that many automatic transmission equipped vehicles are biased with weak detents in "R" and are often all too easy to inadvertently shift into "D" or "D3."  I should know, as I've had one for quite some time.  If memory serves, Japanese-made or Japanese-branded vehicles are the usual culprits.

It's also interesting that at least one Japanese Formula 1 driver is on record as saying, "Learn to shift with finesse and grace, and don't slap the shifter around like some barroom tough guy." He was speaking of manual transmissions of course, but I can't help but wonder if a cultural design philosophy may extend to consumer-grade cars, trucks and SUVs. 

That said, and especially in a parking lot, it's a prudent habit to gently apply the throttle after shifting out of "P."