I know exactly what the original poster is saying. I had this problem on my 2014 with the 8-speed. I quick tapped the brake and shifted, rarely did the rollers pushing the vehicle go under the tires.
My 2019 is different. As long as the vehicle is rolling enough to see 1 MPH on the speedometer, it allows me to shift from neutral to drive without using the brake at all.
Best regards,
Dusty
2019 Ram 1500 Billet Silver Laramie Quad Cab 2WD, 5.7 Hemi, 8HP75, 3.21 axle, 33 gallon fuel tank, factory dual exhaust, 18” wheels. Build date: 03 June 2018. Now at: 051170 miles.