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Damn I think I might be at this exact same point.
I've bled the clutch and replaced the clutch hydraulics. It seems to work better but not perfectly each time but engaging reverse on flat ground is exactly like the OP states. I've been hoping it's just more air in the system but did a search before I posted anything new.
Looks like I'll be getting to that IMS sooner than I'd planned, but at least I'll have it behind me and know where I stand.
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