You may be able to fit a reverse camera to your existing RCD510, though you will have to first check if your RCD510 supports this. It needs to have a connector on the back for the camera input. If it does then you're in luck. If not then you'll have to upgrade the head unit.
You'd then have to choose whether you just get another RCD510 (with camera input) or upgrade to RNS so you get the Sat Nav (and possibly fix your media issues).
It does appear that there are more firmware updates for the RNS510 than there are for RCD510 (I haven't seen any firmware updates for these units). As far as skipping and forgetting where it is up to I have similar issues with my RCD510 set-up and haven't managed (or bothered) to try and fix this.
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