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If the NV5600 has metallic (brass) syncro clutches you will soon see a lot of little brass particles in the oil when they start wearing, my experience with the brass syncros is they don't work very well with synthetic oils without a friction modifier, I suspect that the NV transmissions have some other type material in the syncros if they work good with synthetic oil, anyone know for sure? as for shifting without the clutch, it undoubtably can be done without harm if the engine speed and the output shaft speed are closely matched and the clutch isn't dragging a little, I think most professional drivers have a feel for that, but I wouldn't reccomend that novice drivers make a practice of it. thats all I have to say about that!
My 2004 Has a 6 speed manual trans. It shift hard up and down. I took It to the Dodge dealer and he that all of 6 speed shifs hard. No cure he says? :-{}
Have you had it since new? how many miles? Don't use anything other than Pennzoil synchromesh or Mopar. Redline and amsoil are too slippery and will shift harder than the correct oil. By the way, the recommended oil is a very high quality, as good as any synthetic. Look at specs for Pennz Synchromesh.
Mine took over 30-35000 before starting to shift butter smooth.