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Testing clutch disengagement: With the vehicle stopped, transmission in neutral and the engine running depress the clutch, wait a few seconds, then put the transmission in reverse. Reverse doesn't have a syncro like the forward gears. If you feel the gears grinding/hitting before they engage then your clutch is not fully disengaging. Also, check the bushings where the shifter rods connect to the shift arms, a worn/missing bushing could cause interlock issues, even if the shifter is aligned properly. Hope it's an easy fix.
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