What I have seen when they get worn is a lot of times when going into reverse the shifter will travel further due to wear and bump the other shifter quadrant and knock it just out of gear enough to grind. This is aggervated by worn out detents on the shift cam or one with too much end play.
You might have to pull the top cover and have look at what's going on inside when your shifting if you can't correct it with external adjustments. I'd be willing to bet your in reverse, but the lower shifter is coming out of gear.
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