It's exactly what I WAS doing, thought it was reducing wear on the engine but didn't realise it would destroy the transmission! Now very into the mechanical habit of stopping all the time when maneuvering. It's a tough habit to break tho reversing off my drive on a morning!
Cheers for all tips tho, I'm an enthusiastic driver but know precious little about automatics.
It's only been a few weeks so hopefully haven't done much damage....
Going to hope the click is a normal sound, or go to the Lexus dealership and ask for a sit in one of theirs ;)