ill give that a try
Had this on my old MK7 Zetec, took it to ford they said nothing was wrong with it and couldn't replicate it.
I went back out to my car, shoved it in reverse and low and behold it done it, they told me to pump the clutch, put it in first gear or wait a while before putting it in reverse. Was odd but seemed to work. Haven't had it on my MK7 Titanium though.