Gearbox design (C514 and similar). "R" gear grind is pretty normal. Not much you can do.
Reverse gear is not synchronized and it's straight cut gear (therefore R has different sound when you drive). Engaging has to be a bit harsh, not gentle.
To avoid (minimize) this, the gearbox must in specific condition, state. I mean combination of engine idle speed, gear oil temperature, is the car still moving a bit, how it was stopped, main brake or hand/parking one, are you on slope or flat surface, what was the last selected gear, condition of the clutch (maybe it's dragging a bit, it's not 100% ON and OFF) and general condition of the gearbox (bearings and gears wear).
When you go forward, then stop, you're typically holding wheels with brakes, so there is some tension/preload in the drive train and/or suspension, then you put in "R" and it grinds. Try to change some of those variables and wait between the steps (so you will get less grinding, maybe).