This might apply to some vehicles, it did to mine. We had issues with two Fords over the years that were grinding going into Reverse, and difficult to downshift going into the lower gears. It took several years for the problems to show up. The grinding in Reverse is usually an easy fix, buy just shifting into 1St, then N, then into Reverse.
The downshifting into lower gears was driving me nuts, double clutching works, but.......... if everything is working normal its really not needed. What I stumbled upon was the floor/firewall area was flexing when the clutch petal was being pressed down. What that does is throws the whole geometry of the system out of whack for lack of a better term. In other words if the floor flexes the clutch will not fully release, hydraulic clutches included. We made sure the floor was in its normal position, beefed it up so it wouldn't flex and the problem was solved! Ford has a part for doing just what I mentioned I found out months later, for the E-Series Vans and F-Series PU's. If you are certain the system if properly bled, have a look for any movement in the floor when the clutch is pressed down, it should not move.
Vehicles with clutch cables could have a cable that is stretched causing the clutch not to fully release, they are different animals.
HTH
Frank D