The hard shift from park to reverse on an incline is to the the excessive weight of the vehicle on the parking pawl. This can be prevented by setting the parking brake prior to shifting into park. This should be done when ever you are parking on an incline or recline. If the vehicle continues to sit on parking pawl it can cause it to break. A good habit is to just set your parking brake prior to exiting your vehicle.
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Happy Adventures,
Heather