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The reason for your grind into gears is the synchro assembly is worn out. But your probably going to find more things worn out, bearings, gears and other synchro assemblys, when you or a shop tears it down. The reason the trans doesnt grind(or grind as bad) when its cold is because the fluid is thicker and it protects better, when it becomes hot it gets thinner. Anyway its time for a rebuild.
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This is how it looks, will soon have real pics
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