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Done properly, it won't stress the driveline or transmission, in fact, it may be easier on it then using the clutch! Of course, improper use of this technique, just like improper use of the clutch, could be hard on things! I am surprised anyone who's driven a large truck, where this technique is the norm and required to make smooth gear shifts, hasn't chimed in.
As to the difference between trucks and cars: any vehicle's driveline is designed around the gross weight of the rig, and over that, to allow for sloppy or rough shifting. I would no more abuse my Yaris then I would my Sterling, by using this method.
On the other hand, there is no real advantage to shifting this way (unlike in the big rigs, where you HAVE to shift this way, you think truckers are pushing in the clutch every time they shift?). Less wear on the clutch and throwout bearing, obviously, borne out perhaps by my 240K on the original clutch on my Toyota pickup (one of the old small ones, and then I didn't need to replace it, it was sold), would be about it. I just brought it up as I had been doing it without thinking, and it does it just fine, nice short throws on the shift lever helps. It's a compliment to the Yaris!
I find I use a lot of my Yaris driving techniques when in my boom truck. And, vice versa. One of my favorites: when parked at a curb, and getting ready to pull out into busy traffic, I check my mirror before starting (already warmed up), it saves sitting there for a few minutes idling while waiting for a break, and watching your days average on the ScanGauge go down! It's fun and can be educational, having two rigs that vary so much in size, and jumping back and forth between the two: I don't get crowded or tail gated much in the crane (or at least don't care or notice if I do), but the Yaris can't pick a ton up 70' away either!
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