Update
Well it appears my Dealer finally fixed my reverse issue, they have been great. After many conversations with the Yamaha folks the problem was the Throttle Positioning Sensor. It was sensing something in the positioning or idle to not allow it to shift into reverse.
They changed everything in this thing main wiring harness, ecu, relays, shifting fork and reverse body assembly, reverse motor, pod. The dealer was pulling his hair out on this issue. A word too the wise if your reverse is intermittenly not working it probably is not mechanical but electronic.
One of the other things that helps is to turn sled off and recycle key and allow fuel pump to completely cycle before starting. This allows system to go through full check of sensors and system. I will update for long term success.