2019 Volkswagen Jetta drivetrain & axles problems

The contact owns a 2019 Volkswagen Jetta. The contact stated that while attempting to park the vehicle in a handicapped parking space, the vehicle failed to stop despite the contact's foot firmly depressed on the brake pedal. As the vehicle continued to move forward with the contact's foot depressed to the floorboard, the vehicle drove over the parking barrier, knocked over the handicapped post, and entered the sidewalk.

The transmission has always ground going into reverse. The dealership told me it was normal for the jetta's. While driving, I will put it into 1st gear and start moving, and then it will either get "stuck" into first or second gear, I can take it out of gear but cannot engage another gear. When this happens, you can smell the clutch burning. Took it into the dealership and they assured me my transmission and clutch were fine.