01 GTI VR6 trans trouble

This car has very infrequent times when it will not engage reverse. Shifter feels slightly bound up but moves in same spot but is in first. It has gone months with no problem. Hard for dealership to find since it will not act up when they have it. It has been to dealers several times over its 40,000 miles without result. Anybody know what is going on from experience. Thanks for any help.

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Ronald Bricker
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