I agree, the motors are not torquing against each other, that would be very inefficient.
But the control motor will be be subjected to torques related to propelling the vehicle. It doesn't just "turn the gear".
Example: Let's say the control shaft is rotating at a rate r. When the control shaft rotates faster, at rate 2r, that would be a higher gear (in other words, the output shaft would have higher speed and lower torque than the input shaft). If it's rotating at rate r/2, that would be an easier gear.
Now, with the control shaft rotating at r, let's say the vehicle experiences a reaction force (e.g. friction, or going up a hill). This torque against the output shaft will be transmitted back to the engine, obviously trying to make it go slower. But the control shaft is equally linked to the drive train. The reactive torque at the output shaft will try to slow down the control shaft (because slower rates, like r/2, are easier gears, and the system is continuous - there's nothing locking it into a gear). So in the same way an outside reactive torque places a load on the main engine, it will also place a load on the control motor.