This has happened a few times recently: when I go to push it up into reverse, I don't get the usual resistance feeling, it goes it too easy/fast if that makes sense, and it *grinds*. Then I go back to neutral, try it again, works normally (feels normal, no grind). This has always been after fully warmed up. It's only got 20K miles on it (but out of warranty, it's a 2000). So bad syncro? Or going bad?

 

hmm sounds like a bad synchro but i can't see that happening at 20k miles...mine has 100k and the reverse synchro is not bad