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Sounds exactly like clutch not disengaging all the way, especially if its easier to shift into first gear while rolling (speed matches RPM). You are going to wear out the syncros fast if you keep driving it with the clutch dragging on shifts, and these 6MT are not serviceable.
Warranty for clutch is unlikely since its a wear item, you would need to prove a defect essentially, but worth a call at least to try. Could also in theory be a master/slave issue and not the clutch itself, which might indeed be a warranty item.
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