Yeah, the SRM doesn't have anything to do with it, it's controlling the engine which is on the other side of the clutch.
I have a hard time getting mine into 6th sometimes. It doesn't grind but it hangs up on something.
Note that there are less syncro's on the higher gears than there are on the lower ones. 1st and 2nd have 3 syncros, 3rd and 4th have 2. Can't remember off the top of my head but 6th may only have 1.
One possibility is that your clutch isn't fully disengaging. If you are getting grinding of any sort when the clutch pedal is on the floor this could be the case. Does your clutch take up seem like it's right on the floor?
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