My wife's 1969 VW Beetle has never had that kind of problem. It is always put into reverse after starting, to back out of the garage. Can't ever remember gears grinding. Definitely grinds if you try to shift into first or reverse before the vehicle has come to a complete stop, however.

Similarly, my BMW motorcycles never had that problem. Then again, they didn't have a reverse gear, either. I think the R69S was available with 3 speeds and reverse for sidecar use but I've never met an owner.

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"Buster" in the '95

Our all-Diesel family
1996 E300D (W210) . .338,000 miles Wife's car
2005 E320 CDI . . 113,000 miles My car
Santa Rosa population 176,762 (2022)
Total. . . . . . . . . . . . 627,762
"Oh lord won't you buy me a Mercedes Benz."
-- Janis Joplin, October 1, 1970