ALways use OEM fluids in hondas.
I've stuffed up a box previously from using Redline fluids.
Its an unusual thing but more expensive fluids tend to stuff the honda boxes as much as the cheap ones.
OEMs are great and you'll have less problems.
I even tracked my car using OEM fluids no issues.
Just need to bleed brake fluid after tracking.
Have you tried selecting second gear before selecting reverse? This usually slows down the gear speeds enough for you to select reverse without damage.
If you still have no love, check the condition of your gbox oil & if required replace with OEM or Penrite Trans Gear 75W80
Worst case would be the pressure or clutch plates are not working properly and will require replacing
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