Hello mate
Do your self a favour buy your Haynes manual and set up the selector shaft
properly by losening the pinch bolt and following the instructions/these are different for each different type (S1 and S2) and different model years as well.
I've not been in any RS T that selects/changes gears like mine and indeed haven't found
any Clutch/gear box centre/'specialists' (Ho Ho) that knows how to do this correctly they all seem to do it so it's 'sort of' correct. And indeed most rolling road operators don't know how to select reverse properly as they never have one that works as the good Ford intended any more.
I hope this helps and know that if you do the above (even if, as one the the above experts suggests the linkage has been damaged)it will be better than you've ever hadit.
Luv N huggs
The DR