Firstly nothing to worry about as this has happened to both the EF and XR6 when the km's are still relatively low ie under 150,000km. On our EF after 150,000km it selects into reverse no worries.
Seems that when the T5 is still new selecting reverse at times seems hard, best way i found is to drive forward in 1st slightly then select reverse.
Motor May 2001 Quote: "Believe it or not, there are actually a bunch of weirdos out there who reckon a six cylinder is the dux gutz. Bugger it: I'm one of them" :s5
AUII Late Ed XR6 HP T5 Venom- Full Tickford Body Kit, 17in Wheels, Herrod Bi-plane Spoiler, Momo Steer/Gear, T-Series Interior Options, Premium Stereo and a very light-tuned 4.0L I6
(FPV-Tickford Club of NSW Member and Co-Founding Member of 3FB Inc, Ford Forums Food Bandits)