I've had the same problem for a while now. I told my dealer about it twice when my I brought it in to fix my faulty mass airflow sensor on two different occasions...nothing. They insist everything is fine. I gave up. I guess I'll just have to wait until my tranny craps out on me and then have it replaced under warranty.
When paralell parking, it helps to release the clutch before engaging reverse from 1st, and 1st from reverse... I look like a total douche-bag when trying to fit into a tight space, but at least the gears don't lock up on me...
