When I shift the quad into reverse I hear the shifter arm clicking over but it does not engage reverse. If I roll it back a couple feet it engages. Any ideas?

 

Place the gear box in neutral,loosen the 10mm lock nuts on the linkage ends at the shift box,remove the 10mm nuts securing the linkage ball ends on the box shift lever and remove the linkage rod from the shifter. Check how much free play(slack back and forth) you have in the gear shift lever and the plastic blocks also(may need to be replaced) Adjust the linkage to where the gear shift lever is CENTER of the shift slot and the linkage drops straight in. Plus always check the lever on the transmission(belcrank) for any movement or loose nut. See if this helps on the grinding. Should give you a little more "travel" on the shift lever. If this doesn't help then the problem could be the sliding " forward/reverse dog gear" in the transmission that will allow a "positive" forward,but not reverse. Can sometimes be the opposite,a "positive" reverse,grinding forward range. OPT