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Interesting reading. I'm another long time manual driver (European, never owned an automatic) and your transmission sounds very similar to mine. I'm on my second brz and they both are my least favorite gearboxes. Unpredictably stubborn and grindy some days, other days a slick delight to drive. Depends a bit on if I'm tired or not, but that doesn't explain it all - the other household car is an STi and that never grinds unless I really screw up the change. With the first brz I spent hours adjusting the clutch, changed to at least 5 different brands of oil, perrin transmission support, no better. With the 2nd brz I've changed the clutch slave as per ultramaroon's guide and the clutch feel is better for sure, but I've kept the original oil.
One thing I've noticed is the tranny is very sensitive to how I disengage the clutch - if I drop the clutch pedal after lifting off the gas to precisely where the car is coasting, no engine braking at all - then it usually slides easily into gear. If I lift off the gas a bit too much before pushing the clutch, so the car is engine braking, it almost always grinds or hesitates into the next gear.
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