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1st thru 5th are engaged to the cluster gear all the time. When you shift, you lock the gear to the main shaft via synchros. Reverse is a seperate gear that slides into a mating gear on the cluster to engage. If you throw in the clutch and shift quickly from neutral to reverse, it WILL grind. If you pause a few seconds and wait for the cluster gear to stop spinning, it should not grind, but may be notchy occasionally, as the gears don't allways mesh easily. If a 5 second delay in shifting to reverse from neutral produces a smooth engagement, everything is normal.
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