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Sorry for the late post but I say that the cause of your gear grinding when entering straight into reverse would be a bad/worn PILOT BEARING. The pilot bearing is located in the center of the rear crankshaft. It is a simple sealed ball bearing that allows the input shaft from the transmission to enter through the center of it.
As the pilot bearing wears it starts to drag a bit thus not allowing the transmissions input shaft to slow down enough before you place the shifter in reverse. The reason the noise is not heard when going into first is because the forward gears have syncro gears that allow the meshing gears to turn at the same speed making the gear change a nice, smooth movement. When you place the MT in reverse the reverse gear has no syncro's thus it can not slow down the speed or match the speed of the input shaft thus allowing for the gear grind/noise you hear.
To further explain why your method of placing the MT in first before going into reverse eliminates the noise is because when you go to first you slow down the rotation of the input shaft down enought that the reverse gear does not grind when you put it into reverse.
Next time you do the clutch you will also be replacing your pilot bearing thus eliminating the reverse gear grinding. For now just continue with you "shift to 1st gear" method, so far it has worked for me like a charm. Hope this info helps!!!
Sincerely,
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Julio Meza 1979 264GL B27F 124K --> BW55->M46, CLS, IPD Sway, 81+ Dash, Gauges 1979 262C B27F 159K --> Restore Project w/Possible V8 1984 245DL 211K -->Wifemobile
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