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[CircuitJerk]

My 9thgen XRS did this, but my GenTen doesnt.

At times it may not go all the way into the gate, so I just pull the stick back to resting position release the clutch, press in the clutch and it goes right in. No shifting to other gears here.

If you are grinding it could be the adjustment. Take it to the dealer in any case. But it's a pretty simple affair to experiment with the adjustment. It's just an awkward position.