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I drove the FRS today.
The gearbox is not "notchy" in any negative way. What you feel is the direct linkage doing its job. I did not experience anything that I would call "notchy."
I would say that the gearbox is like the S2000, but not as tight and not as short a throw. Also, the 3-4-5-6 shifts felt a little off. Hard to find the gates. Maybe just take some getting used to. Owners with seat time can comment on this.
I agree with Groucho above. Some cable linkage systems seem to work just fine. My Fit has a lovely little gearbox for a $15K five-speed econo-box. And, as noted, Porsche uses cable linkages (as well as MacPherson front suspension).
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