Check to see if your clutch is releasing enough. Do this by idling in neutral for a few seconds and push the clutch in to disengage. Hold the clutch pedal in for 5 to 10 seconds and see if you get a grind going into reverse. If you get a grind, your clutch isn't releasing far enough to remove torque from the input shaft to get a clean shift. A dragging clutch wears the blocker rings down quickly in the trans.
A fresh pressure plate will have about .060" travel from full clamp to full release. As it sees heating/cooling cycles and thousands of bending cycles on the diaphragm spring, it work hardens and doesn't clamp as tight or release as far as it did when new. Over the life of a pressure plate, clamped to released distance can get below .030" or less. This creates an issue of not removing enough torque from the input shaft to let the blocker rings in the trans do their job.
On a cheaper note, I have seen shift quality improvements before just by changing to fresh fluid in the trans. If you haven't changed it in a while, a fluid change could be a cheap fix if your clutch isn't dragging.
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