It's based on the D19/190/200 rear end, so a completely different beast. Likely it has been ground into reverse a few too many times. The best hope is that the idler gear is chewed up and needs replacing, as this can be done by removing the shift cover and rear end cover and sliding the idler pin out the rear. You will need to have the new gear honed to the size of the shaft, as the bushing is press fit and shipped slightly smaller than the shaft, just a heads up. It could also have a bad gear on the countershaft, this is something you don't want to talk about, it requires a complete rear end tear down and replacement of the entire countershaft, i.e. very time consuming and expensive for parts. Lastly, you could have a bent shift fork not engaging the gear all the way. If you have this, I would also suspect you have a bad idler gear as well, as it is likely bent from grinding the gear. I seem to remember something about an update for early tractors that was supposed to better engage reverse (a different shifter rail or something?). But I don't remember exactly what it was, maybe someone can shine some light on this. I would start by pulling the shift cover and inspecting the reverse idler gear and shifter fork.
Hurst
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