Transmission clunking

[ryan's camaro]

Hello.

Today I was driving around in my 2002 Toyota Sequoia. I was on a residential street that curves downward on the sides of the street for water draining. I had to back up into a driveway, so I positioned myself.

After getting into my position, I shift into reverse, waited a sec, and hit the gas and heard grinding noise from the gears. I realized that the gears hadn't engaged yet before I hit the gas.

Would this have damaged my transmission negatively? This was my first experience with something like this. I have learned to wait a bit after shifting to allow the car to engage its gears.

[ryan's camaro]

Anyone?