Just because it takes up late, doesn't mean it's TOTALLY disengaging. Either because of the pilot bearing binding, or whatever the case. The friction point that you feel might be where it actually can transmit useable power, but even the LIGHTEST contact of the clutch will cause some issues trying to get the thing into gear when sitting at a stoplight, for example. I don't think the transmission is your problem.

Reverse is a fantastic indicator of clutch drag. If you put the clutch in, wait five or six seconds, and repeatedly try to get it into reverse, AND hear grinding or feel it hit gears, then the clutch is dragging. Plain and simple. ANd because reverse isn't synchronized, you'll ALWAYS be able to hit the gears, rather than being held out in the synchronized forward gears. Give it a shot.
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1992 940 wagon, low miles
as well as others.