Reverse gears on a Yamaha - 2001 Yamaha Royal Star XVZ 1300 A

check shift linkage --if idle high will also cause gear problems

The gear cogs might have moved or damaged. Better get a repairman to have a look at it.

Buy the service manual not Hanes either buy it from Yamaha it will show you step by step

Gear shaft cold be twisted frm corrosion,check if cable is pushing linkage fully back,if gratin or jumping out of gear could be worn gear and clutch dog

Worn transmission shift arms. You will need to remove the transmission and rebuild it.

That forward and reverse lever is adustable. If it's popping out - just try and adjust it to where it lengthens and is more stiff when going into reverse and forward. You can shorten or lengthen that rod that connects the piece you squeeze and pull back/forward to the mechanism on the middle gear housing. When you look - you'll see an adjustment nut. loosen it and adjust it out to where that rod is longer.

I had the same thing happen to me this weekend. I tried to slam it in reverse after my dog fell off and it sounds like yours. Have you found anything about the issue?

It is a pretty big job for a weekend mechanic. You will need some special tools > Impact driver, torque wrench, expanding 'C' ring pliers, case splitter and flywheel puller. The entire engine, top end and bottom end must be torn down. Don't try it without the manual. The clicking noise is probably a broken tooth on a gear. ALWAYS replace gears in sets, ALWAYS. The grinding is most likely a bad bearing.

Sorry, but the crankcase in the Royal Star has no room for the additional gearset that would reverse the rotation of the output shaft. If it's absolutely necessary that your motorcycle has a reverse gear, you might consider one of the newer Goldwings.