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Q: transmission wont go in reverse on 1996 Volkswagen Golf TDI

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
when i shift in reverse it trys to backup then kicks it out of gear and grinds really bad. If the car is on jackstands and u put it in reverse it turns the tires fine but still sounds like it is grinding or really rough sounding. do i need a new transmission or is it worth having this fixed.However the car drives grat its a manual tranny
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