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I had a small pickup with a 5 speed. When the synchronizer in 5th gear went out it wouldn't stay engaged at all. I had to put a strap over the shifter to hold it in gear or it would throw it out. The transmissions are made on the same principle with 2 shafts and shifting forks. If it kicked out there would have to be something to push it back in. You may have to tear it apart to find out. Seems more like the clutch being pulled and then released or the clutch pads overheated and slipping. I would look at the clutch pads.
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