Grinding noise from transmission when shifting into reverse whilst still moving forward. Is this normal and should I fully stop first?

Hi, I have a 2010 5 speed manual Toyota Yaris and when I’m moving forward - no matter how slow or fast I’m moving - selecting reverse gear causes the transmission to grind halfway down the shifters travel from neutral before moving the rest of the way down. I’m still able to put the car in gear but always get the grinding midway through. This sound sounds and feels exactly like cogs rubbing against eachother. When I select reverse whilst stationary there’s no issue whatsoever, and the gear itself has no issues engaging and sounds fine once selected.

I’m just wondering if this is normal? Ive read online that reverse gears of older cars often don’t have synchros? But I wasn’t able to fully refer my query to this explanation. My mother’s diesel Nissan Note 2014 does not have this grinding noise when shifting into reverse whilst still moving forward, hence why I’m curious if it’s normal.

Should I just always stop fully before selecting reverse?