Well, you definitely have a Tranny problem...

..... if it's not something simple like fluid level or a sensor or something like that... which it doesn't sound like it is...... (maybe a valve... but I don't know how involved that gets)
..... then it will definitely need tearing into. FYI, my experience with "won't go into reverse" problems in the past were of two varieties. The first sounds more like yours & it was on a Plymouth Voyager with a 2.4L Mitsubishi engine.... I have not clue who made the tranny. It would just work intermittently, but when it did, it worked normally. Turned out to be a broken "dog" that toggled the tranny into reverse. I was "hanging" semi-out of position so that it was a matter of luck as to whether it would work or not.
I know nothing about automatic transmissions or how similar one is to another, but you may have a similar problem to that. It was a surprisingly simple & fairly inexpensive repair... also a common problem for that tranny (they showed me the broken part).... apparently easy access to that area of the transmission. I would think you might have this kind of "engagement mechanism" type problem, given your description.
The other "won't go in reverse" problem I had was in a big block Suburban with Turbo-Hydramatic tranny which did a lot of towing.... high mileage for a GM (around 125K). THAT one started having trouble with "slowly" engaging into reverse; which was an early symptom of other sloppy shifting symptoms, including utilmate total failure (bound up & seized) on steady, steep, highway speed incline on a Sierra trip ... 395 north of Lee Vining (not towing at the time). THAT required tranny replacement.
You definitely need to get it into a shop..... and FYI, my experience with transmissions is that your best bet is to take it to a long established independent transmission shop, which may be few & far between. I'm not talking about chain shops like AAMCO... but a true independent that is JUST a tranny shop (one that's been doing it successfully for years). They can often 'fix' a problem (as with my Voyager above) as opposed to replacing or rebuilding your tranny. No reason for you to take it to a dealer unless that's just your shop of choice. (Correct me guys if there is something special about our Ridge tranny that would suggest dealer preference for service)