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I have a 2000 Mustang GT w/ manual tranny. When I shift into reverse, sometimes the shifter won't go completely into the reverse gear and it grinds really bad when I try to back up. Other times it goes into gear perfectly. Ive also read that if you go into 1st gear then directly into reverse it sometimes works. I tried, it didnt work. 1 more thing, sometimes when downshifting from 5th to 4th my gears grind for a second, but the gear is still engaged.
 

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This is a common problem. Try to put the car in 1st and disengage the clutch a little letting the car move forward a bit. Then see if you can go into reverse.

Also do you have a stock shifter? If you have an aftermarket shifter make sure the stops are in the right place.
 

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ive had everything replaced and talked to numerous mechanics and mustang enthusiasts and i hear its extremely common. i usually rock forward or shift 3-4-5-R. i wouldn't be too worried about it because i hear about it more and more
 
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