Vehicle slams into reverse

When vehicle is put into reverse it shifts hard into reverse only happens when it's hot. Shifts fine in all other gears. Fluid is good, don't see any problems with wirings on any of the shift solenoids and the pressure regulating solenoid. Vehicle only gets factory or dealer fluids. Could the vehicle already have a bad solenoid at 60k miles? I know the '03 - '06 f550's have a lot of issues but I haven't heard of this one or see it anywhere.