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If you take all the rubber/plastic away from the shifter, so that its just a shifter and nothing else, you should be able to hear the insides of the transmission spinning. When you push the clutch, you can hear them slow down and stop. They should slow and stop fairly fast when you hit the clutch pedal.
Sounds like clutch isn't fully stopping. Another way to tell is that when sitting still, going to reverse always grinds. Reverse in many SR trans made before 1997 is unsynchronized so if the clutch isn't fully stopped it will just grind no matter how long you wait.
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