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you need a new reverse gear. the rest of your transmission should be fine but it will need to be rebuilt because you probably have pieces of the reverse gear floating around in it. it will eventually ruin the transmission if you don't fix it soon.
Check the front engine mount..If its bad it could make a noise while turning or reverse..Hold the car in gear with your foot on the brake and carefully raise the engine ..do it in both reverse or forward and look for excessive movement..
the cv joints likely do not affect the transmission. a cv is bad when you can hear it clicking while making a turn. when they begin to click it is time to replace them or else you will be stranded sooner than later. as for the grinding transmission, your options are to have tran rebuilt or replaced, or park on a hill. gears and metal are grinding and tearing themselves to pieces. if repair is not an option, then do not use reverse, after all, its not where we have been, but where we are going that counts.