Got exactly the same issues with my Ibzai Cupra TDI. (57)
Difficult to get in reverse but once in It's a pain to get out, however once out of reverse I really struggle to get it back into any other gear even after pumping the clutch pedal a few times. I have to leave it in neutral for a while then can usually gently sneak it into first.
Dealers couldn't find the
problem as it was fine that day. P!ssing me off how it trys to drive away while in 1st gear with my foot down on the clutch!!!
I need to ring the dealer tomorrow as they were sending a report to Seat HQ to see if they have anything like this on record.
I might give that clutch bleeding a go though, seems simple enough and quite likely the cause of the
problem. I know mine is remapped but the clutch is not slipping, it's the opposite IMO, bites far too early.