Very likely the gear linkages need adjustment.
Had a similar issue in mine at just over a year old. Occasionally had difficulty selecting reverse and first gears- and sometimes struggled to release reverse. Seemed to be more of a problem on an incline.
Had it investigated under warranty- very badly actually- I was initially told it needed a full clutch assembly which wouldn’t be covered under warranty.
I didn’t accept that because I was pretty sure there was nothing wrong with the clutch.
After a brief battle with vw the problem was properly investigated and resolved- all that was required was adjustment to gear linkages. No problems since, and I have had a beautifully slick gear change.
