I have about 11k miles on my car and this has happened 3 or 4 times and could not be repeated. I was a 100% sure I shifted correctly and thought it was just one of the many quirks of this transmission. The clutch was down all the way each time and it was just in normal highway traffic. Each time that happened, I moved the shifter into neutral, released the clutch pedal, depressed it again and it shifted into 5th without the grinding as if it never happened.
Thanks for posting this, I will monitor from now on to see if the problem gets worst.
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