Euro 6MT Reverse gear question

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Just found a problem when I am on a slight incline and want to reverse. I let the brakes out a bit so the car is rolling backwards slowly, say below 5km/h. When I press the clutch in and shift into reverse, I get a huge GRIND! I have to be at a complete stop before the tranny will go into reverse. Is this normal? I remember with my old Corona, I could get into reverse with no problem when the car was slightly moving.

My car just goes "clunk, ker-thud, ker-thud" when I shift from D to R and then blue smoke comes from the front wheels as the the engine revs to the limiter just before I hit the garage door.

Oops! Sorry, I should have looked at the original date of the post.