My Hondas,Toyotas,Nissans,Fords, Jeeps,Dodges, Isuzu, Uhaul rental trucks, VW's, Chevy's and Pontiacs that had manny trannys all had the occasion where they just wanted to be put into neutral,let out the clutch and then try for reverse again. it was, and still is more prevalent with the higher HP cars I've owned. It has to do with reverse not being synchronized (rightly so).
Now if it does it almost 50% of the time then have it checked out if you are on warranty. I'm sure I missed a car on the list as I've been driving manual trannys for a lonnnnnngggggggg time.
My Chiropractor wishes all cars had Mustang headrests.