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Had the same problem with a 2006 Nissan Spec-V with the 6 speed manual. A red line fluid swap smoothed out the synchro crunch. Whatever they had from the factory wasn't ideal and a lot of others had better luck with Redline.

I have a 2001 ranger with the same trans. Sold it to my dad around 70,xxx miles and I don't think he ever changed the fluid. Now it has around 180,xxx miles and I've done a few drain and fills for him but has almost the same issue you described.Takes off ok in first but will randomly kick out...