Every time I shift into reverse to back out of my driveway, it seems to shift rough. My driveway is uphill.

Most likely the transmission fluid is concentrated at one end of the pan, and it is having trouble circulating the fluid into the valve body for the reverse gear while the car is situated this way. It takes a lot of fluid and fluid pressure to get the vehicle into reverse. Check your fluid level on a level surface with the engine hot, idling in park and see if you are low on fluid, also.

Helpful yes but does that mean it will always shift this way while parked in an uphill position. Because it's the only time it does it. I was wondering if there was anything I can do and if it will ruin my transmission. If so I might as well park on the street where it's level.

Before you turn your car off ....and before you put into park....use your emergency break. Then put the car into park. That way the weight of the vehicle is on the emergency break not the transission. When you crank car put into reverse then release emergency break....you will notice it’s not nearly as rough on the transmission