2006 TRD Off Road 6 Speed Reverse Problems

Managed to grind the reverse gear real good when attempting to make a quick turn from coasting slow, put it in reverse while intending to put it in first. Now I have to hold the shifter in reverse hard to prevent it from slipping out, if not it slips and grinds even more. Has anyone had this same issue? My mechanic is looking for a replacement tranny but could there be an issue with the linkage? Any help is appreciated.

 

I've came close to this a time or two, hope I dont go this far... good luck... ;(