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your reverse gear is damaged, I had the same thing and had to replace the gear in the transmission. The guy that rebuilt the transmission said it was from going into reverse when the truck was still rolling forward. This would chip and wear off the edge of the gear until it was worn so bad it acts like your transmission. I had this problem when I first got my F450, your going to have to replace that gear.
just letting you know what I had and how I had to deal with it, I got real tired of slamming it into reverse and holding it as hard as I could to get some gear to back up. Take from it what you will...
Well I am going to be tearing into the transmission this weekend, it doesn't seem that bad. I will let you know what is causing the problem, but from looking through the diagrams and manuals it seems it would most likely be the Synchro assembly or the slider gear that needs to be replaced. My clutch master cylinder and slave cylinder are all new and my firewall has no cracks or flexing just to add, I just noticed that someone posted to check that before. Clutch, pressure plate, pilot and throw out bearing are also new. I will drop it this weekend and tear it down, if it needs it I will just go ahead and rebuild it, if it is something simple I have another ZF5 in the garage that I can use for parts.
Yeah, Ive had a similar problem since owning my truck, sometimes the gear will only go half in (no matter how hard you tried to slam it into gear) and grind when the clutch was let out. Ive had two quick fixes for this problem, one is to put it back in neutral, let the clutch in and out a few times and then try again. If the problem still persists, I would put it into first and the back into reverse and it would always go in and work. To my knowlegde the syncro for first and reverse are the same on these ZF5's (although ive also read that these two gears dont have a syncro). Either way it doesnt bother me that much and I wont be doing anything to fix it untill I get some room in my garage to do some damage to it this summer or the next.