methods said:Totally unrelated - When I tune the shunt in controllers I use a big oil heater for a load. It gives me about 10A @ 100V DC. When I pull the lead away I can yank a spark about 1" long. It is like a light show and my wife about has a heart attack every time I do it. After 4 or 5 times the solder pad on the board is trashed. -methods
We need a video of that

I think if you can interrupt the controller output at just the right time, you can switch fast enough so you barely feel any loss of thrust. This would greatly extend the life of the relay contacts. I would guess that only of of the 3 contacts would really be arcing when you switch. Statistically, this would spread the wear out over all 3, so maybe it's not a big issue. When the contacts close, since there is a lot of inductance, there won't really be any spark. If the motor is going too fast when you 'downshift', the BEMF may exceed the battery voltage and result in a large regen current. Depending on your cell impedance, the system voltage may or may not increase enough to blow anything.