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You can try to adjust the gate or stop on the top of the transmission for reverse. It is accessable by pulling the shifter boot. You can test to see if the problem by holding up the reverse ring when shifting. Shift carefully! If it drops in no problem then it may be this gate or stop that needs to be moved over slightly.
What kind of fluid did you put in the transmission? My tranny shifts much happier with synthetic. Still has trouble going into gear as you note when the transmission is hot if I have been driving it hard.
Sean
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91 740T M46
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