It may have nothing to do with your problem but I always increase the rpm's when using reverse for the extra increase voltage/amps. There is a healthy draw using the starter motor.

 

It's worth a try. Now I will just have to try to remember that when I saddle up in May .

 

That is my practice also.
Lately, even doing that, it has been draining the battery low enough that it trips a Low Voltage DTC.

Replacing battery today. 🙄👍

 

Harley's reverse system for the trikes is a poor system. Hopefully the newly redesigned trikes will include a mechanical reverse in the transmission instead of an electric motor. Even the Gold Wing has a better reverse than my trike.

 

My new to me 17 Freewheeler was doing the reverse jerky thing and now it does nothing. I just ordered the Eurowing kit to use the transmission to back up when needed.

 

I have owned many bikes (and Harleys) since '69 and I cannot remember EVER getting more than THREE SEASONS out of a battery!
I keep my battery(s) plugged into a battery tender when they will not be in use for a week or more and I'm not one to leave my bike powered up in order to listen to the stereo when parked,
In '21 I installed a new battery in my'18 Tri-Glide and then transferred the old battery into my '13 CVO Ultra.
Within a week (or so) after two rides I tried to start the bike and got that awful "click-click-click" sound!

With today's bikes (and trikes( having so much electronics (and no kick starter) I refuse to be stranded somewhere simply because I tried to get another season ? out of a batter so I replace the battery after two full seasons of use
It's my belief that a weak battery can possibly cause damage to other electrical components.
With me it works out fine since I can transfer the old battery into my generator and get another two seasons out of it and BTW I also keep the generator on a battery tender also because it also does not have a pull starter.
Your problem may be elsewhere but the battery is by far the first place to start checking for electrical issues and also by far the easiest and cheapest to replace IF it is your problem.

 

The battery I replaced was installed in 2021 by the previous owner. 😉
Reverse working MUCH smoother.

I also just replaced the battery on my Ultra Limited, that has been in place since 2019. 😳

Both bikes failed load testing, and were getting slower to crank over when starting.

 

My 98 came with a champion manual reverse. No electronics, .just a lever.
Might look for a manual compatible wuth your trikes. The manuals have no problems

 

I have a 2024 RG3 and they replaced reverse motor at 7400 miles. Told me they replace a lot of them.

 

2021, reverse has always jerked when engaged. Never had a bike with a reverse so my first experience with it. The jerk when engaging is not normal? I hate using it, usually park so I don't need to use it.