To see if the problem is with the engine or the control, do the following.

Disconnect the shift cable from the engine. With the engine running, shift the engine by hand via the engine's actual shifting linkage. If the shifting setup is okay in both directions, the problem would obviously be with the control setup... in which case, adjust the shift cable as follows.

(Centering Shift Cable)
(J. Reeves)

When all is as it should be, the proper method to adjust the shift cable is to disconnect the cable from the engine. Move the shift linkage on the engine to find the center of the play in neutral, and when found, leave it centered.

Now, grab the end of the shift cable sleeve, push and pull it to find the center of the play there, and center that play.

Adjust the trunion on the threaded portion of the shift cable so that the centered play of the cable lines up with the centered play of the engine's shift linkage. Install and lock the shift cable with the retaining clamp in that position. That's it.

Let us know what you find.

Thanks Joe,

I disconnected the linkage and it shifts fine by hand. Centered both linkage and control cable to nutreal position. Goes into coward fine but is still
It engaging into reverse unless I go back and assist the linkage. Feel like the cable is not extending far enough...?

The fact that it shift okay by hand.... cable disconnected, shifting at engine linkage manually... indicates that the problem is either with the control of the cable, Unfortunately, without being there, I'm at a loss to say exactly where to look... BUT... at least you know the engine is not at fault.