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Some gearboxes are just rubbish. Had mine at the dealer multiple times (owned the car from new) for adjustments/oil changes to try and make 2nd acceptable, lived with it for 6k miles and it wasn't getting better. The two demo cars I borrowed had no problems at all at similar mileage. In the end they did replace the gearbox in my car and the last 2 years have been perfect.
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