I noticed a similar "problem" with my 2000 SL2. I was thinking that there was something needing lubrication. However, I think that the transmission just works that way. From the Technical Service Bulletin for Manual Transmissions:
"To reduce shift effort, do not attempt to rush the shift - allow the synchronizers to work as designed. Shifting harder will only increase the chance of rushing past the synchronizer leading to grinding while shifting."
I think that explains it all. I briefly ran through the diagnostic check just to be sure. I feel more comfortable now that the issue is mostly normal. Here is a brief outline of what I checked:
- Initial Conditions: Parking brake engaged, car in neutral, engine running (in that order :D)
- Attempt to gently shift car into reverse until a brief light grinding is encounterd (gently)
- Depress clutch and try to shift into reverse if any grinding is encountered the clutch is not fully disengaging (this checked out on mine)
- With transmission in neutral, release clutch then depress clutch and attempt to shift into 1st (I noticed this was difficult, however when I moved it slowly it went into gear)
- Keeping clutch depressed, shift into other gears (mine went right into gear with no problems)
The issue in my case has nothing to do with the linkages or the shifter. The TSB mentions this as being normal for many cars...
Check this on yours to see if you have the same results.
Mike