The short answer is yes. It puts an impact on your transmission, U-joints, drive shaft and rear end. All of these parts have tiny tolerances, i.e. spaces through which they can rotate without contacting the next part down the line. When a load is suddenly applied, it causes these parts to slam into each other, rather than having the load gradually applied. So basically it's like hitting all these parts with a hammer. Your car will probably not grenade if you do it once, but don't make a habit of it unless you're planning on replacing everything soon.
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