unless i apply just the right amount of leftward force as i shift into reverse there is this terrible grinding noise- is my tranny going?

You can grind this tranny into reverse for only about 200,000 miles. Then, think about replacing it..

fairly common noise, that doesn't require too much worry.

My friends 740 has done it for over 400,000 kilometers.
The other posters'suggestions are good, if it really bothers you.

Good luck, Josh

had the same problem with my Honda Accord. Traced it to the synchros. Doulble cluthcing or putting it into first, then reverse will help. Did that on my car and drove it for several years before getting rid of it.

Keeping the clutch down...put the car into first gear and then into reverse...works for most standard shift transmissions.

There's an adjustment at the base of the shift lever accessible from inside the car by removing the centre trim and the gaiter. There are 2 set screws which secure the base plate; by slackening them it is possible to alter the point at which the reverse detent raised by the collar on the shift lever clears the stop plate. There is a workshop distance for this, in the manual, but it is really a case of trial and error. Alternatively, is your clutch not fully releasing?
Hope this helps,
regards
Thomas Mann

worn engine mounts can cause tranny noise but I'm not sure in this case.