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The manual Trans in my daily driver (Contour SVT) does this often when attempting to shift from neutral to reverse. In my case it is because the clutch is not fully disengaging (last small amount), the auto adjust is out all the way. With the engine OFF it shifts in and out of reverse easily. Could this be the case here?? Maybe it (the clutch) needs to release a small amout further.
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Rick
As you slide down the Banister of Life, may the splinters never be pointing the wrong way 
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