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Sounds like you have lost the shifter fork off of the actuator inside of the transmission. As long as there was no heavy grinding noise coming from inside of the trans you might have gotten lucky and it just fell to the bottom of the case, but either way the trans will need to be opened up to make the repairs. I suggest finding an honest and reputable trans shop.
Could be a bad throw out bearing causing the whistle, and perhaps the other issue as well. Reverse is hardest gear to engage smoothly as it is not synchronized. Try re-bleeding the system and insure none of the linkage parts are worn. Also make sure the trans is correctly filled with fluid.
check the idler pulley and tensioner I have seen this before coming from a idler pulley bearing on a Honda I sprayed some pb blaster/wd 40 on the center of the pulley and it stopped only for like 30 seconds but that's how I figured out which pulley was causing the noise
It could be what is called the squeal warning on the front disc brake pads. If so, it indicates the pads are worn to the point that they should be replaced before they begin to do damage to the rotors. Pretty easy for someone who knows how to jack the car up, remove the wheel and take a look how much brake pad is left.
It is manual transmission or auto trans?if auto trans there should be problems internal components or hydraulic failure due to internal leaks that create noise in transmission..
has a brake release that allows you to change the gears. could be linkage. trans can be tricky. VW are expensive and if passat is like the jetta, these trans are one time uses. take gear lube and not to be refilled. may need to replace it.
a whistling noise will be a vacuum leak from some point. The Escapes are known for having vacuum issues in the rear of the engine due heat caused from the motor. The lines dry and crack out.
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