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Avensis Td, Notchy Gear Change

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I own a 99 Avensis TD that once had a smooth gear change. Now it is very notchy, especially when cold. I changed the gear Oil, that made no difference. It is more of an annoyance than anything else, it goes into gear and doesn't grind but the gear change is not as slick as before, it is a lot rougher. Are there any common problems that may cause this?. What are the steps to troubleshoot and get to the root of this problem?. The car has been well maintained, never abused and it has less than 90k on the clock. I would appreciate any help. Thanks.

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