Well in that case, there may be something wrong with the syncro's (not sure of the spelling) pronounced sing-crows, or possibly an issue with your flex pate. From what your describing, the clutch is not allowing the tranny to fully engage into reverse, wich can mean one of two things. The gears are not lining up because they are coming up shy of where they should be, or, they are passing where they need to be.
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Thanks, I have a 4-3 transmission. It only happens when I completely release the clutch. If I keep the clutch depressed it is not a bad.
Grinding noise in an automatic is usually a planetary gear failure...leak or not it likely needs a rebuild.
Is it only grinding in reverse? How well does it travel between other gears? Is your tranny an automatic?
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