Considering what you've been through here's my theory: The input shaft is bent and it's destroying the pilot bearing -or- they never replaced the pilot bearing to begin with and screwed it up when they reassembled it -or- a variant of one of those possibilities involving the pilot bearing. As I'm sure you're aware; if the pilot bearing is bad the transmission won't quit spinning when you press the clutch allowing the user to smoothly change gears from a standstill. It won't come out of gear when the truck is turned off because there's weight against the gears locking them together. You can pop it out of gear in motion because the motion of the truck releases the preload i.e. - the slop in the gears releases the bite of the dogs in the transmission. I do this all the time when I'm backing my trucks up without pressing the clutch, I just feel for the transmission to unload and slip it out of gear at the correct moment. The forward gears work because the synchros are allowing you to get it in gear.
I have found reverse in my G56 to be very, very, tight, not at all like the NV4500's I have. Also with my truck, it will not come out of reverse in motion with the clutch pressed. If I stop, it will come out with the clutch pressed. It will also come out of reverse with the truck off and the clutch pressed and it is reluctant to come out of reverse with the truck off with out pressing the clutch but I can get it. And like I said, I can pop it out while in motion with out the clutch. Take that info for what it's worth, it's a mouthful.
I have a feeling your truck is destined for the dealer again. How many miles are on it? Is it difficult to put it in first or second gear from a stop or does it slip right in? If it takes a second and you have to push on the gear shift then I would definitely look at the pilot bearing.