It could be typically due to one or two things:
1) The clutch plate is sticking on the gearbox splines due to build up of corrosion or lack of lubrication. May happen especially after long standing with no operation.
2) Gearbox oil is old and requires replacement.
3) Clutch operation requires adjustment or repair. Check clutch fluid or cable condition and operation.
SOURCE: Reverse gear has grinding noise...?
Have them flush the fluid out under warranty and put in new fluid, and have them bleed the clutch lines in case air is getting in there. Audi and VW claim lifetime transmission fluid but it's BS - I've changed relatively low mile fluid from these cars and it was horrendous. It's possible that the fluid itself is causing trouble, but it's more likely that it is a synchro problem. If it was a clutch issue, you should have problems with more than just reverse gear - a clutch simply engages and disengages the engine and transmission, regardless of which gear it is. The problem (if not fixed by fluid) is in the transmission, and being under warranty, don't accept another "suggestion" like they're giving you. Changing your clutch isn't gonna do it.
SOURCE: transmision shifting problem
Reverse is not sycronized, this means the gears have to stop to mess and not grind, two thing cause this, being to quick to slam into reverse after clutch is depressed, a problem with the clutch.
SOURCE: My 98 Escort ZX2 manual transmisson seems to shift gear hard!
Clutch may be smooth but this is a sign of the clutch needing replaced. Some of these models have a linkage adjustment under the hood. Others are hydrallic and need fluid. Look under the hood where the steering is and see which you have and address accordingly. Good luck. Check on costs of clutch replacement.
SOURCE: my 98 cavalier manual stick shift will not go to reverse gear
sounds like the shifter linkage has worn and not working properly need to lift in air and inspect the linkage
SOURCE: Mazda 626 - Hard to shift into gear.
With any vehicle that has a hydraulic clutch, a worn master cylinder or slave cylinder will give this very symptom. First step is to check the fluid in the resivor. If it is low, you will want to check for fluid bypassing the seals. Be sure to check under the rubber dust cover as fluid can collect there and not be readily visible. Also, if the fluid in the resivor is dark colored, it is an indication of the internal seals going bad and you will need to replace the cylinders.
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