OK, when in doubt, consult the manual. The 2120 has a hydro, syncro shuttle, so I can't comment on it here, however, direct from the manual for the 1720 and 1920, I quote: "The 12 x 12 Synchromesh Transmission operates through the use of a clutch pedal, a shuttle shift lever and a range selector." Also, "The shuttle lever is used to travel forward or rearward. Depress the clutch pedal and pull the shuttle lever upward and push forward for travel forward, pull rearward for travel rearward. Always depress the clutch pedal fully before changing the shuttle lever position. Any of the main gear ratios may be selected with the tractor moving or stationary provided the clutch pedal is depressed." And lastly for those interested in changing ranges, "The range selector has 4 positions to select the required transmission range. Always depress the clutch pedal fully and bring the tractor to a complete stop before moving the range selector lever. Do not attempt to change gears (ranges) while the tractor is in motion."
I always operated my 1720 as the manual stated and never had any problems. I would think to do otherwise means grinding gears or forcing the gears to mesh while turning under load - not a good thing. So, to recap, change from forward to reverse or through rears 1 thru 4 - simply press the clutch and shift. Change ranges - press the clutch, bring the tractor to a stop (or nearly so) and change range.