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Without seeing a car it can be difficult to diagnose properly, I guess its an auto? When you drive forward you probably give the gas a bit more than you do when you put car in reverse? people tend to be bit more careful when reversing,bit steady. So the oil pressure in the gearbox is building up at a different rate opening a valve in the gearbox to enable gearchanges.  If your gearbox is auto,and you have a dipstick,first check the level, does it smell burnt? Secondly change the gear oil for some fresh and see how it goes. Apart from  that,Id seek advice from an auto box specialist. Good Luck.