ford clutch

first check the idle speed

clutch cable would be my first point of call

Could possibly be a dodgy clutch slave cylinder, if it's a hydraulic clutch. If it's a cableised one, then the self adjuster could be knack'd.

read somewhere about a self adjusting ratchet

Escort *cars* did away with the awful self adjust system around '94, so I would guess your van would be manual adjust. There will be an adjuster that needs a hexagon key near the top of the clutch pedal. The basic procedure is to use a tape measure to ensure the amount of travel is 150mm +-5mm. A rough check is to see if the clutch pedal is level with the brake pedal - if it's a lot lower, you won't be fully disengaging the clutch when it is depressed. This would cause difficulty in engaging reverse.

TBH, there is often a knack to making a silent engagement of non-synchro reverse gear. If it is difficult to engage, try selecting first, let up the clutch so the car (or van :-)) just starts to move, then try engaging reverse. Apologies if you already understand this.

HTH

Chris