We used to have the same problem with a peugeot 406, every time i tried to reverce i got the most horendous smell of burning clutch.
We have never suffered this problem with our 2005 seat alhambra 130 tdi however so its strange that your galaxy should show this trait as it is primarily the same vehicle.
You will no doubt be aware that the vw tdi was one of the first vehicles to be fitted with a "dual mass" flywheel, this fly wheel has been the source of much comment due to its inability to cope with anymore than 5% tollerance to vws design spec.
Basically this means that if use the car outside of its design spec by more than 5% then the clutch will slip on the fly wheel, my car for example has a engine re-map which has increased the bhp from 130 to 172, if i use the power carefully the car is far more confident as a tow car but if i boot it whether towing or not the clutch will slip badly in first through to 4th gear.
Due to the low gearing of the reverse gear you may just be pushing the clutch / flywheel over the tollerance level with the van on tow, I know its hard to control the speed but try to keep the revs as low as possible and close the clutch fully as soon as possible to avoid slip and heating up the fluid.