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Reverse is a combination of clutch packs filling with fluid. Extra clearance in each of these packs will cause a delay due to the time it takes to fill them for engagement. Any slippage? How long are we talking about? A few, or several, seconds?
Is it only reverse, or is it just happen to show up in reverse because that's the first gear you pick in the morning? Some torque converters have a valve that can leak allowing the fluid in the TC to drain back to the pan. After the truck is cranked, it takes a little while for the TC to fill back up. If I recall correctly, that delay will show up in forward and reverse, but only when it's been sitting for a while (can vary from overnight to several weeks depending on how bad the valve is leaking).
When I shift into reverse, it takes about 1 -3 seconds. Shifts into reverse normally but acts like it's in neutral. If I'm not on the brake, the truck will roll until reverse engages.
Tends to happen more when the tranny is up to operating temps / warm. When cold, it doesn't seem to happen - or at least it doesn't take as long to engage.
Mine takes ~2 sec when warm to engage in reverse. If you rev the engine, it (naturally) engages faster and with a bang. Have to remember to be patient. Mine has been rebuilt by a shop with no particular performance parts (standard rebuild).
Mine takes about 2.5 seconds normally, and a bit more after sitting for a week or more. However when making a U-Turn on a busy street that is too narrow to do it in one swoop it takes longer, an eternity to be exact.