If you are using reverse you need to stop the car before gunning it forward - ESC usually have a delay programmed for that, but it can be disabled sometimes. Correct shimming should prevent gears slipping, but changing drive direction quickly is harsh on the gears. Unless you really need reverse, switch it off.
But back to your main question - it's either the sun gears slipping over the planet gears, or input pinion gear slipping over the ring gear. If you need reverse and can't programme a delay in change of direction, you'll have to shim those gears very tightly, but that will reduce efficiency, and the motor and ESC will run a bit hotter.
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