As far as I understand, the issue with backing is the steering wheel going one way while you want the vehicle to go the other way. I've seen people get around this by using a heavy bungee strap through the steering wheel attached to the brake pedal (only when backing up, not when moving forward).
I've backed up a few feet also with no ill effects.
I find it hard to believe that backing up a few feet would hurt he transmission/transfer case and the note about towing backwards means just what it says - don't TOW it backwards.
Furthermore, it backing it up a few feet really caused damage, I would certainly expect to have heard about it somewhere. To the contrary, seems like a lot of people have said they back up a few feet when absolutely necessary without any damage.
Just my two cents...