On shifting into reverse - there is no syncromesh on the reverse gear in this transmission. If it's already sitting still in neutral, press the clutch and shift into any forward gear. They all have syncros, so any will do to stop the transmission input shaft from spinning. Then shift into reverse. Nothing is spinning, so no grinding.

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Rick Miley
2014 Tesla Model S
2018 Tesla Model 3
2017 Nissan LEAF
Former MB: 99 E300, 86 190E 2.3, 87 300E, 80 240D, 82 204D Euro
Chain Elongation References