Where did you get the 1200 rpm number for your old Maximas? As long as your foot isn't on the gas, its safe to shift the car into gear. Your tranny is under way more stress everytime it shifts while you are getting on the freeway. Its nothing you should worry about.
Think about how many automatic Camrys there are out there (hundreds of thousands) and how many people have tranny problems. I bet that 95% of them don't think about letting the car warm up at all before driving away. And I don't think that any of them have been damaged from shifting into gear when the engine is idling high.
-Charlie