Its a $500 car. I had weak/failed reverse happen suddenly to my 300SD a few years ago. In my case....things disintegrated internally. Had to swap the whole trans. When I went up my driveway on its final move it took 2500rpm to get it up the driveway slowly in reverse. 
Picture of a piece of what I found in the PAN (along with LOTS of grey clutch powder and clumps):
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