So ok. I re-read your description. Are you're saying with the clutch depressed (trans in reverse), vehicle not moving, ...that's when you hear the rattling noise? But you don't hear the noise when the clutch is out and driving?
If so, that usually points to a failing/worn pilot bearing, or bushing (whichever your H3 uses). That's the bearing/bushing which fits into the rear of the crankshaft (example picture below). It's purpose is to support the tip of the transmission
input shaft (# 100 in the diagram ..in the link below, group 3). Most people think the main transmission shaft inside is one long shaft. It isn't. The transmission
input shaft which sticks out of the transmission isn't very long, maybe 8-9" (~21cm) or so. It needs that pilot bearing in the crankshaft for support. The pilot bearing is non-greasable. They can become dry and rusty over the years, and also be damaged when installing a new clutch (even if a new bearing was installed). When that bearing or bushing wears or is damaged
(..or the wrong size installed new), the
end of the input shaft can wobble and make a knocking noise against a bad/worn bearing or bushing. That's what produces the noise. It usually occurs at idle. Once you put load on the transmission (let out the clutch), the clutch sort of centers the input shaft and the load on the gears straighten the input shaft up and it doesn't knock against the bearing.
Those are kind of 'classic' pilot bearing noises. Does that make sense? I had a car which did that for years ...till I figured it out. You cannot see or service that bearing unless the transmission is removed which makes it difficult to diagnose. If that's the issue, you should change it so it doesn't cause downstream damage to the transmission input shaft or associated gears. Don't use a cheap bearing. Hope it helps.
Below is the transmission breakdown if you need it:
The sports or performance cars are still produced with manual transmissions, as are many imports, but the decline is here to stay for the foreseeable future.
www.transmissiondigest.com
This is a general picture from google (as an example) of a pilot bearing.