For what it's worth:
We have a Catalina 30, and always put ours in reverse and feel the difference. No problems ever getting it out and ready to start up....
HOWEVER... a year ago we went out with a fellow with a new to him Cat38, newish around 2003 . While out this question came up and he decided to put it in reverse. Another fellow on board (owns a 911S Olson) and he said "whooo, don't do that you could have some trouble getting it out of reverse." and guess what?.. when we were getting ready to head in, it was stuck in reverse. They did something wonderful and it was back into neutral but I think about that each time we go out.
Don't know what he had in that boat but we have a Universal M25XP.