Re: hard shifting in reverse
1. Idle has to be at spec, or she'll grind.
2. When you shift gears, do it only after the engine settles down at idle, and do it smartly. It's a dog clutch, either engaged or not, no middle ground, no synchronizers, just a slam dog. If you let it chatter, it'll nick a little metal off until it's ruined. At idle, and dropped full in, it'll clunk like it's designed to, and live forever.
hope it helps
John