Hi Guys

I am looking for some advice. I have an A4 2.4 V6 Auto Avant 2003.
The gearbox works great in forward motion and runs through the gears really nice. When I stop and select reverse, the car jumps two or three times before the car starts to go backwards.
It's like the gear does not engage correctly. I carried out a gearbox flush and fitted recommended gearbox oil, but this made no difference.
Could this be the torque converter, enginer management programming, or is the gearbox worn out. The car has done 85k.
Any suggestions gratefully received.

Kind Regards

Steve