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Ours is difficult to get into reverse some times, but mostly doesn't like staying in reverse. We've got to hold it in or it can and does pop out.
We changed the ATF in the M6 with Amsoil ATF and it seems to be a little better than before, but that's hard to determine.
Many people swear by Royal Purple ATF for the hard shifting M6 problems. It's not a very costly project. $50 at most if you do it yourself. Can't hurt to try that first.