Evening, I have noticed this also on my wife's car, aside from the helpful suggestion from the garage did the offer a "fix" for the problem? I may contact our dealer and ask them to correct the problem. I'll keep you informed and an I ask that you do as well. Cheers Dan

 

Can give you an update been told this is normal for this car its a (quark) l call it an issue and to try and use 1st gear if having a problem to engage reverse.
The i30 has not this problem so they will fob you off with this.
Also have a loud knock when l release the clutch pedal and again they say this is normal l say worn release bearing.

 

Manual trans by design forever do not have a "meshed" reverse.. all 4 to 6 speed forward gear is mashed, and the act of gear select is moving collar on shaft to couple with selected gear..

Reverse uses an idler gear that must be moved into place to get reverse motion of gear set,, so we let gear box roll breifly with engine, and step on clutch pedal, and select reverse, but sometimes teeth do not line up,, which is normal.. the act of selecting a forward gear serve 2 puropse, 1 is to stop gear box rotation, other it grind when try to select reverse,, 2nd is to may bump shaft slightly to align gear set for idler to slide into place and give us reverse..

YOUTUBE gear box operation to se how reverse is made in most any gearbox

 

Many thanks for you input Sbr711 but this is the only car that needs to use another gear before putting in reverse.
All cars l have driven in the last 30 years do not do this so l say again and so have hyundai its only an issue more with the i20.