[Water Dog]

One of the most common reasons for hard shifting is insufficient lubricant. If it is in fact harder (than normal) to get it to shift into reverse, my suggestion would be to drain the transmission, check the oil for brass colored specks (there is a synchronizer ring on the reverse idler gear), and refill with fresh gear oil.

 

[Water Dog]

I agree, there is no full syncro in reverse, but the FSM labels it as semi-syncro and there is a syncro ring on the reverse idler gear. As stated above, it could be normal, but since we don't know the exact circumstances, that can't be said for sure. Have you been driving this Jeep for a long time, and is this a new problem, or did you just get the Jeep and are experiencing it for the first time?

While shifting into reverse sometimes does mean releasing the clutch to let the gears spin down, and that is perfectly normal, if that does not work after several attempts, it could be a lubrication or worn parts issue.