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It can be done, you just have to make sure you match the rpm's to the gear. If you grinded, you weren't revving the engine enough to match the synchros. I can do it fairly easily, you just need to be familiar with what speed is best for which gear. For instance coming up to my block i'll be in 4th, as i come up to my block I apply the brake......and once I reach a certain point I shift to second and make the turn.
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