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This has happened me a few times, when I am driving forward, I will downshift from 3rd to 2nd, but when i try to downshift from 2nd to 1st, when I'm going slow, it hesitates and doesn't allow me too until I stop. Also, I was in a driveway, put it in reverse, but I didn't have to press the gas due to the driveway being on a hill. I took the car out of gear, and as I tried putting it back into reverse, it started grinding gears, tried two times, happened both times. I had to be stopped to put it in gear. Any suggestions?