When i shift my car into reverse it likes to shift hard, but if i sit there and hold the brake and cycle between neutral and reverse it slowly goes away, any idea what the problem could be??

 

try letting the car warm up 2 minutes before shifting into R when cold
that reduces the pressure in the line and makes it easier to get in gear
does it act the same cold or warm?

you may have dirty selenoids or it could be signs of bad news
Hows the fluid look and smell- ever change the fluid?

stop by a trans shop and ask for a free opinion

 

How can i check the solenoids?