I haven't heard of bent linkages from doing it wrong.
It can take a little bit to become accustomed to getting out of it, but I have no problem on my 242 anymore. Usually while still rolling, with foot off the gas, at a pretty decent speed (around 10mph or so, depends where I am), I'll push it down to 2wd, then give it a quick little push on the gas. That usually clicks it back to 2wd if it doesn't want to go in. Stopping and switching between drive and reverse usually always works too.