Not sure we'll ever be able to answer the question of whether is safe to 'live switch' Shore to Gen and Gen to Shore without having a discussion with the Engineers that designed the ATS 20/10/5/1 year(s) ago that happen to be in 'your' particular RV.
Reason is that it IS possible to design a system that detects when the AC is near zero, synchronizes the Genset output frequence with line frequency and then operates a Make-Before-Break solenoid so that both sources are at or near zero when the switch occurs. And do this in a matter of milliseconds to seconds. And the number of modern AutoStart gensets would indicate an economy of scale so RV manufacturers would probably opt for a 'Smart ATS' that can switch safely even if there's no built in autostart.
This didn't use to be a trivial circuit design, but now days, with all the specialized digital ICs available, it's probably pretty easy.
My old '94 Bounder, I researched the ATS and it's what you'd call 'dumb'. Basically, just a big relay.
In my '02 Winnie, there's some circuitry in the ATS box that makes the switchover so smooth, there's no 'telltale' of it, like I'd see in my old RV when the TV would flicker, the 120V desk lamp would flicker, or the computer monitor would glitch.
Naturally, out of habit I pretty much unload most of the circuits before starting or stopping the genset, even my new one, and if it's not inconvenient, I'll shut everything down, walk outside, and flip the 50A breaker on the post before starting the genset for it's monthly exercise. If it is inconvenient though, no qualms about unloading it from any heavy loads (MW, A/C, Furnace) and starting it up with some devices running. (Mainly my computer, water heater, refer, sometimes the TV).
Good luck to all!