Such great timing - im having the same issue! And its scaring me to death.

In fact it kicked back a gear on the highway yesterday and jolted to an "Engine failsafe error"
Unplugged when I got home and cleared it, but box is still hesitant in all gears since......

Please let us know how you went. L322 4.4 Vogue MY03 - Her name is Bulletproof .... you already know she's not
L322 4.4 Vogue MY05 - Sold to my brother
P38 4.6 HSE MY97 - Regretfully sold

Update: been a few days since my 'spurious' no reverse episode....well,since the gear linkage has been oiled/greased i can report no further issues. All is well Thanks all for the help.

Great news Bigee.

Unfortunately I have WD40'd the linkages, shifted them all as the wiki says, then Greased it.
I saw no noticeable difference, and now 48 hours later I have no reverse at all (before it was 50/50).

When I select reverse I get a moments of backwards push then it slips straight into free revving, as if it was back in Neutral.
Any other siuggestions would be most most welcome.

Thanks
Craig L322 4.4 Vogue MY03 - Her name is Bulletproof .... you already know she's not
L322 4.4 Vogue MY05 - Sold to my brother
P38 4.6 HSE MY97 - Regretfully sold

If you had a TD6 it would be screaming the gearbox is %^&*$#.
The box in my TD6 lost reverse which was the first sign of failure ZF box so I am no use to you.

Adrian VW Amarok 2014 Highline auto