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I had the second gear grind REALLY bad in the cold. I did take it to the dealer when I was around 60k and they gave me the combo answer of:
1. Its normal toyota gearbox noises
2. Its somehow my fault in how I drive
3. I need a new clutch (Which I later pulled and it was mint)
I've been running redline oil in the car and noticed some improvements with the oil change but my recommendation would be to avoid skipping second gear as that will just have you run first gear high or third gear low while the engine is ice cold.
Instead as you go to shift into second pause for a fraction of a second in the first/second neutral gate before you pull it into gear. You may actively have to force yourself to do this until you get used to it but after that you will do it without even knowing. Doing this nearly eliminated my second gear grind in the cold.
Interestingly enough though I don't even really do this anymore. After I installed the AEM strut brace with the master cylinder brace the shifts changed from a grind to a single clunk into gear.
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