Yo whats up? Well good news... you only blew out a gear syncroid...
Simple Fix to this problem:
First of all you have to get your existing tranny dropped and looked by a Honda/ ASE Tech. or someone with transmission mechanic knowledge. I can predict you will have to rebuild your tranny at a shop and have them change your 5th gear/ reverse gear. Both of the gears work with the exact same
gear syncroid !!! This should take a few hours to have then drop tranny... remove damaged components... rebuild tranny...reinstall tranny.... test drive the lude and check gears for a resolve to you porblems... Then simply be happy that its fixed and no more worries.......
