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Dick is the type of person to yell “Bruce catch!” And let go of his grapple while swinging full speed.
When Dick eventually left behind was fired from Robin he still continued swinging at Bruce, and Bruce never failed to catch him.
And when Jason became Robin, and Dick got mostly past Bruce giving his name to the kid. Dick told Jason stories about it, never showing him except once, when he and Bruce were on slightly better terms. Dick did it more forceful than usual.
It took Jason a month or two as Robin before he was comfortable enough with Bruce to trust him to catch him.
For Tim, they didn’t show him. But he’d picked it up from seeing Dick and Jason do it. The first time he did it, it damn near gave Bruce and Dick a heart attack.
For the short period Steph was Robin see never got the chance. But you bet she remedied that when she became Spoiler.
Damian was more hesitant. Always worried it would be a trick. Because it was an easy way to ‘accidentally’ cause him harm. But after seeing Dick, Tim, and Steph do it and be caught every time, he eventually gave in. You’d never catch him admitting it but that first moment wrapped in his Father’s arms as Bruce caught him for the first time, and the small smile Bruce gave him when he stepped away, that is one of his favorite memories.
Cause Bruce would always be there to catch him.
He couldn’t catch Jason, never again.