Can you sjift into 5th at idle without issues ?
Sure the small plastic bushing inside the shifter is good ? (goes into the shift rail , ball from shifter slips inside it) .
Another check , stick it in reverse and wait a second . While you keep the clutch pedal down , pull it back out of reverse and see if it gives much of any trouble going back in . If it starts grinding away going back in , either the clutch is not releasing correctly or the pilot bearing in the back of the crank is grabbing the input shaft and spinning it . It might chunk-grind into gear but should not give a grrrrrr grind .
The clutch could appear to be releasing but if the input shaft bearing retainer is worn the throw out bearing will ride sideways and not correctly disengage the clutch . On older clutches you would get a hard chatter (3 finger) but newer diaphragm pressure plates kinda prevent the chatter . There is also the chance of alot of grease slinging from the pilot bearing (or oil from tranny or engine) and onto the clutch disc .
One more option is the disc sticking to the input shaft splines due to worn splines or lack of lube (doubt this is the problem) .