Hello mmason
Welcome to the TDR. You're lucky if you just have notchy cold shifts, I have a full-blown grind into 4th and sometimes 3rd. There is a TSB 21-009-01 to replace parts in the transmission but it doesn't sound like many dealers are familiar with it or confident doing it.
Jury's out on different oils because of the disclaimer tag on the transmission that states you have to use a specific oil or the warranty is voided. There's been some posts indicating DC can't legally do this unless they provide the oil for free.
Oil aside there is strong indication that NVGear had some faulty/poorly designed syncros installed in 6spds up till Feb '01 so this grind is based on known facts.
Rich