When hot, my transmission has a slight delay going into reverse and when it does, it engages very harshly. I rarely have to use reverse though and in the spot that I normally do, I can pull up, place the car in neutral and start to coast back, then shift into reverse as I am rolling back, so it engages more easily.

As far as shifting goes, my transmission still shifts perfectly, despite 268K. Shifts are firm when cold, but after it warms up, it smooths out - the shifts are softer, but no slippage. I guess I am lucky... so far.

Good luck to you.