I've got that tough getting into reverse problem sometimes also. I've got 123k miles on my 98 svt and it has been doing it for at least 30k. I've always been able to get it into gear easy if I shift through all of the other gears once or twice if reverse is acting up. After going through the other gears, it goes in like nothing was ever wrong... I don't have the warranty you do though, so I just deal...
