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I've got a similar issue with the 6 speed on my '03 S. Mine is particular to 2nd gear when the trans is cold/cool. What happens to me is you drop it down into gear and when you let out the clutch you find that it hasn't fully engage 2nd and pops back out. It acts like a slow syncro and I don't like the idea of the dealer getting inside the tranny if they don't have to (it's under warranty). I haven't taken it back to the dealer but I'm probably going to within the next month to have it looked at. Maybe a linkage adjustment and some good synthentic gear oil will do the trick. I switched form swepco to Mobil 1 gear oil in the G50 on my 930 and it did wonders.
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