A vehicle includes an engine, torque converter, and transmission assembly. The transmission assembly includes gear sets each having a plurality of nodes, an input member, a binary clutch connected to a node of one of the gear sets, friction clutches, and a controller. The controller detects a requested rolling garage shift of the transmission into a forward drive mode above a calibrated threshold absolute speed, and controls an amount of slip across a selected assisting clutch via modulation of pressure commands to the selected assisting clutch once the vehicle has slowed below the first calibrated threshold speed. The controller also stages the binary clutch to a calibrated staging pressure while controlling slip across the selected assisting clutch, and commands an engagement of the binary clutch and a release of the selected assisting clutch when a speed of the binary node reaches zero or a calibrated low non-zero speed.