I'm still thinking though -- that it is due to the driveline being connected - that you now have to engage a gear - that if not quite lined up - it has to move the main shaft / output shaft - which has to move the driveline and the rear end gears / tires...
Normally the gears would be spinning and then use the syncros to slide into gear so things would mesh up better. Also -- is the tranny dry? That's the other thing that would add to the resistance = that there's not much oil slinging around when you're just stationary like that.
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