My experience is limited controlling turbines, generators, pumps, valves, hydraulics, and dams using Schneider, Allen Bradley, and Unitronics PLCs. No motion controllers. no conveyor belts, no factories, no robots, no VFDs.
I have made a total of at least 7,500 remote updates over maybe 25 different control systems. In fact we basically get it working well enough the operators can handle day to day stuff and then go remote after that, because who wants to stay away from home at some dirty industrial site eating crappy food. The exception to that is backup power for hospitals, no remote access there and it is a simple enough system we can test all the different scenarios and then walk away.
Generally the last thing I put before an output in a PLC is some rate limiting. If it is a discrete output it won't be allowed to operate more than once every 5s for example. If it is an analog output it is limited to achieve the maximum desired actuator velocity or acceleration. This is a good catch all to avoid damaging equipment. I watched somebody learn this the hard way as a DC motor starter exploded when it was told to start and stop the motor 10 times a second.
Certainly I have made errors. A bad one was I forgot to limit a position so that it could not be less than 0. The position was subtracted from some other number. Substracting a negative number is adding! That was a nasty positive feedback loop that resulted in fast oscillations in the position of a 1m diameter pressure reducing valve. However that was during on site commissioning not remote.
Certainly for major changes I will require a shutdown and co-ordinate with the operators, but it is a judgement call on my part as to what I can program and test at the office and unleash on remote equipment vs. what needs to be tested on the actual equipment. Most testing on the equipment is required to determine the equipment characteristic.