[ThunderCactus]

pre-engaging is when the sector gear engages anything but the first tooth of the piston first. This always ends with a jam, or stripped piston.

If you're using a 9.6 large you'll want a mosfet anyway, and despite what pesto says, heavy wear does not occur in every scenario of active braking. Just like higher amperage motors wear out faster than low amperage motors, active braking kills higher draw motors faster than lower draw motors.

PTW's use high rpm motors on a 25:1 gearset and still go 3-6 years before needing to change brushes on an 11.1v lipo
my 249 ran a ferrite magnet motor on 26:1 gears for 4 years before the comm became so dirty it needed the carbon brushed off. And it still worked fine after. Also on an 11.1v lipo.

Unless you're running a high AMPERAGE (high TORQUE) setup, the comm will be fine.
voltage causes arcing, which causes carbon buildup. But it's AMPERAGE that causes pitting and actual damage.