Hard to engage reverse - 1995 Dodge Caravan

Too difficult to say online. You need to go to a trans expert or good DIYer / enthusiast. Is there enough fluid in it?

have you checked the hydraulic fluid chamber on the firewall close to the brake fluid area? If it is low the clutch plate may not be engaging for reverse gear.

They are known for having a weak internal sun shell housing. But that means a rebuild.

Transmission problem. I suggest getting it serviced or put a new transmission in it

when engaging into reverse, there are two actions coming into play, reverse band and high reverse clutch. so it seems really dramatic, but its not nearly as dramatic as say shifting into second. if you have a billet servo that is

Sounds like the forward clutches and/or low-reverse one-way clutch. Either way it sounds like it's time for an overhaul

when driving in 4wd engagement there is a problem in that the torque in the axles and drive lines is not dissipated on hard surfaces as the wheels cannot slip ( great for snow ice mud gravel and the like but a no-no on hard non slip surfaces
yes reversing it will relieve it but if on hard surface ,winds it up again in reverse
better to simply drive two wheels onto the grass verge of the hard surface and then kick it into 2wd
if the diffs are limited slip diffs then the antislip action in the diffs will be pressed very hard together and will produce problems on turning corners
you may have success if you get all 4 wheels of the ground on a hoist and let the wheels spin and then try to engage 2wd

Check for trans codes then I would suggest a fluid change if there are no trouble codes, many times these kinds of problems are caused by a little piece of dirt causing a shift solenoid to stick.