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Departure Sensors is the right tool in your situation. It both reverses the train and crates a route to the next signal according to train's next stop.
It happens when I manually activate the route/signals prior to departure. If the station signal is already engaged prior to departure, the train won't auto-reverse, even if it's a dead-end station with auto-reverse enabled.
Moreover, with the Hotfix 2.0.14 we published yesterday, the Routing Queue is enabled from very beginning, so if you set up the route manually, Departure Sensor will enqueue another one & reverse the train.
Read more about in Changes Ahead: Streamlining the Game Experience