There is an issue with reverse gear on many cars - you need to take it slowly or momentarily select a forward gear first to avoid crunching.Hi , i have an Ignis allgrip GL+ 2017 i have similar issues with the gear box the 1rst is difficult to engage many times and when is engaged the sense is not smooth i like having a 2 step engaging .
For reverse the same , but for reverse in order not to squeak i have i work around which when stop from moving wait 5 secs and then press clutch and engage reverse . An how i am really disappointed with the gear box i am seriously thinking to sell it .
Difficult engagement of forward gears is often a clutch issue and the first thing is to ensure correct pedal height and free play. If nothing seems to improve the situation, I'd replace the gearbox oil with Redline MT-LV. This is formulated to improve difficult gear- changes. Kia manual gearboxes were notoriously bad a few years back with notchy changes and Redline was a well known cure. You can read the background on the Redline website- essentially you want a gear oil with good lubrication properties but limited "slipiness" to aid in good synchromesh operation.