Sounds like the clutch isn't fully disengaging. Are you able to adjust the rod on the pedal such that it's not screwed in (into the clevis) as much? You'll also need to readjust the limit switches on the top/bottom.
I would get this resolved asap because you're causing damage to the trans when going into gear if the clutch isn't fully disengaged.
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G37S Sedan 6MT, Eibach swaybars, Invidia Exhaust, Weaker Clutch Pedal Spring
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