I was confused, I thought it was grinding in forward. I had that issue once.
When you put the cover on, you have to be sure that fork goes into the slot on the gear that presses that spring when you pull the lever. Not sure what else could be going on, unless you don't have the proper spacer (#42?) on those two interlocking smaller gears, which may not let the reverse gear get far enough to them. I know when it is not in reverse, that bigger gear barely misses the smaller gear.