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If you read through my explanation you will find that generally by the time the synchro won't engage reverse, the synchro teeth on the affected gears are also a problem. This requires gear replacement. You may not have to do it, you have to inspect and see, but it's good preventative maintenence. If you don't do it then you may have to pull it and then replace those parts after the fact. It's not worth the risk IMHO.
Cost: tranny removal, teardown, inspection, parts replacement, clearance setting, reassembly, reinstallation. I'd figure at least $1k for that, maybe as high as $2k depending on hourly labor, extent of damage, and parts discounts. Do not even think of attempting the repair yourself unless you have all the right tools, good mechanical knowledge, the service manual, and lots of patience. You can probably remove the tranny and take it to a shop, though, and save some money.
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