Reverse grinding scat pack

I’m reaching out for some opinions any advice would be greatly appreciated. Just got back from a Three Hour road trip with my Scat and experienced difficulties going into 5th form 4th it would grind . Eventually it just quit and I tired to convince myself well maybe you just kept hitting a tooth or something simple like that . Even tho I know I wasn’t . Anyways I get home go to back it in the drive way and as soon as I go to put it in reverse it starts grinding about my 3rd attempt it went in normal . Did some research and seen where people said put it first first then reverse and that does cause it not to grind I’m not sure what’s going on here possibly the synco ? I seen where one guy talked about problems with going into 5th from 4th then his reverse starting grinding. I just bout this car almost a month ago . It’s a 2015 with 64K miles on it as of now . Has a 3K mile or 90 day power train warranty I hope they will fix the issue . Also had problems coming out of first gear a lot after it was parked even on flat land very difficult to come out of first not when driving tho but now sometimes at slower speeds like 5-12 mph it is more difficult then it should be pretty concerning