Shifted all four of our Pioneers on the fly without as much as a thought. Turf mode all the way through diff lock, I’m not stopping to shift. Somewhere around 15k combined, broke a lot of other s*** but no shift related issues here. Not saying you’re supposed to but it’ll engage smoothly. I make sure I’m not turning or spinning a tire and slightly easy up on the throttle like a manual in a truck. But that’s me in my machine.