I agree with the syncro theory. Your car may have low miles, but it may have been a slight defect form the factory. My tC for instance occasionally grinds when powershifting to 3rd, and it's been like that since day 1. It doesn't happen at all in normal driving so I never really cared much to fix it.
Tough part is though, how could you ever explain something like that to the dealer (I guess you really can't)???
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