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Usually, with a grinding noise and gear engagement issue, this is a fault internal in the transmission with a gear synchro not lining up or gears not lining up properly which may also be causing a fuel consumption issue. I have also seen issues in some cases with the clutch pressure plate failing needing to be replaced but usually if it was the clutch itself or pressure plate all gears are affected and usually, fuel mileage is not affected.
In this case, the transmission/gearbox will usually need to be removed to inspect the clutch and pressure plate for any issues and if o.k. then the transmission/gearbox itself has to be inspected internally to then locate and repair this issue here.
Unfortunately, this has to be done to help pinpoint and repair this issue here. I do suspect a fault internally in the gearbox, but without seeing it myself it's difficult to say for sure from here.
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