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Sounds like you may have an issue with the engagement of the release sleeve and the clutch cover. It it gets worst when the car warms up, then I would bet that you may have a warped disk or some sort of tolerance issue with one or more of the clutch assembly components. Typically the actual engagement/disengagement has more to do with the hydraulic release mechanism than transmission fluid. Fluid can help the syncros match up easier, but the hydraulic system is what actually disconnects the transmission from the engine (via the clutch).
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