I’ve reviewed the Beginner’s Guide and took a tour of iD and it doesn’t seem to answer the question of:

Is there another way to upload a small number of existing shapes?

I have the official GIS shape data from the state, I would like to upload it so the results will be precise. I could attempt to draw them in iD, but they wouldn’t be precise, nor would that be very efficient.

Hope that helps clarify the question.