This doesn't help the original poster, but I had read that if you shift into 1st, then into reverse you won't have the occasional state of "limbo". I tried that today and so far it seems to work. Never had to do this on other vehicles, but may be a quirk of the T355 tranny.
This is not unique to this vehicle. I've had it happen occasionally with many different makes during the past 50 years. Usually I just put it in reverse again, but sometimes it can be stubborn so shifting to 1st then reverse convinces it I want to go backward.
2017 Patriot Latitude, FWD, 2.4, 5sp, 430 radio/backup camera. 2016 Patriot Sport, FWD, 2.0, 5sp, air, power group. Mopar Splash Guards, Mopar cargo cover, AVS In-Channel Ventvisor, General Altimax RT43 tires, Curt Class III 13081 hitch, front windows tinted to match others, Sport driver's seat raised.