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Your little grind actually doesn't sound bad at all.
To give an example, my second gear grinds slightly every time I upshift (even slowly) into it, and grinds badly when I miss my downshifts... i.e. don't put it all the way into the gate before letting the clutch out. But the downshift is my fault.
I wouldn't worry about it so much. If you're really paranoid, try changing the tranny fluid to some quality redline (or other) stuff, but beyond that, you'd only be able to get a tranny rebuild, or a new tranny... expect that to run you at least $400 to $500, and up.
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