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Kinda sounds like the shift fork pads might be worn on the reverse shift fork.
Try shifting it with the engine off to see if it feels different. If you do notice a difference then it could be a clutch disengagement issue.
Also try pumping the pedal like 4 times full travel, then go into reverse. If it seems easier then something is wrong with the hydraulics.
I have a tr6060 and I'm pretty sure i have a slight disengagement issue with mine. When i go into gear with the clutch to the floor i can feel the gear engagement and it makes my car slightly lurch forward.
Originally i thought it was just a new disc but i kinda have a feeling i need to shim my slave cylinder.
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