Golf/GTI VI :: Vehicle Doesn't Want To Go From 1st Into Reverse

I've got a transmission question on my 2010 2.5 with the 5 speed manual.

First off, let's set the scene. I pull into a spot, pull up the ebrake and usually put the transmission in 1st or just leave it in second. Then I come back to my car several hours later, after it has cooled off, and I'd like to back out of the spot.

Now sometimes, after the car is cool, it doesn't want to go from 1st into reverse. There is some resistance and when I push slightly, I hear a quick clunk/grinding noise.

However, reverse engages just fine when the car is warm, no hesitation at all. I'm not sure what to think of it. One theory is that when the car sits the clutch loses hydraulic pressure and does not fully disengage once starting the car. Another is inadequate lubrication on the syncros when the tranny is cold.

I'm being very OCD about this, I'm use to driving early 90's Saabs with close to 200k so this wasn't expected with a new car. Perhaps I should double clutch. Shift to neutral, let out clutch and then push in and try reverse. Or just leave it in reverse when I exit. It's happened about 6-7 times in my first 2k miles.

I'm sure if I mentioned it to the dealer they wouldn't be able to replicate it and say I'm a PITA. And yes, the clutch it all the way to the floor and I do know how to drive stick.