Beware of Reverse Gear issue

Buying experience, engine smoothness, refinement, driving all are good. No complaints except known reverse gear issue. The reverse gear issue is annoying, and every time when you need to put into reverse, you need to go to first or some other gear and then reverse. Cannot engage directly in R. Also sometimes the reverse gear makes some noise and will get stuck. Gave it to service center and got a response that this is a known issue (not an issue, but by design - According to Hyundai)