Took my new 2015 RZR 1000 XP4 out this weekend and had a blast. I’ve been very careful, but in one moment I was shifting between low and reverse and visa versa and got a short Rattling/Grinding Noise from the drivetrain. I suppose "drivetrain" is the correct term (I’m not a mechanic). I suspected I was not fully in gear. After moving the shifter back and forth a time or two, it worked fine and no more problems. Perhaps I’m over reacting a bit, but

A) Is that common for this to happen between gears if it’s not fully locked in?

B) Is it likely to have damaged anything or do so in the future?

Thanks! I suspect it’s okay, but I’m hoping to be comforted by people that know more about the mechanics of it that I.