Maybe it's a precursor to a grind? 5th/6th don't engage as smoothly as the lower gears on this car. You can try going with different trans fluid. I'd recommend mt85 but I've had bad luck with it after it accumulated some miles. The car would shift very poorly in the winter (cold) until trans got warmed up.
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G37S Sedan 6MT, Eibach swaybars, Invidia Exhaust, Weaker Clutch Pedal Spring
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