After a few hours of slamming our faces into the keyboard with these same problems we finally figured them out. If you are having a long delay when switching from forward to reverse that means that your I value is too high in your PID. Lower this value and you should see some improvement.
BTW we are using the FirstForge code for Labview so if you have any questions feel free to ask. We have successfully gotten the speed control to work.
We also fixed our -52007 error, but for the life of me I cannot remember what we did. Do all of your Jaguars have unique ID's? Is your console out on or off? Try switching it and see if that works.
In speed control you will be sending a value of rps to the jaguar instead of the rpm's that the BD-COMM application looks like it sends. Our PID numbers are P = 10, I = 0.002, and D = 0.