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It doesn't happen all the time, there is no crunching or grinding it just doesn't go. A couple of times I have managed to give it a hard shove and it reluctantly 'pops' into gear but afterwards I have noticed a strong burning clutch smell. It wouldn't go into 3rd at all, and would only go into fourth with some serious strength and coaxing. EVeryone kept saying to replace the clutch and the gearbox. BUT... You will need to strip the back section of the car apart by the gearbox bushes. Lift off the metal plate that holds the two bushes down in place. In-between the bushes and not visible from underneath there is a metal square which aids in gearchanging. Basically it sits on a pin and moves with the gearlinkage. If this is over-worn on one side or seized it will not change into certain gears. Mine was seized in place and so wouldnt change into 2 of my gears and it blocked the linkages from moving. Just pop it off and WD40 inside..... Its only around £20 for the set and takes 10 - 15 minutes. .. ... I've also been having gear selection problems and this sounds like it could be the fix I need!.. I spent literally 1000s of hours trying to sort out what this problem could be on my car until I stumbled across this. The part number of a new square if you should need it is 33527B.(as theyre from a MK2) when I stripped mine down to do it, and tried to wrap my head around what was going on: So I hope this helps 
Marf wrote:It sounds exactly like my issue, I've been stressing over gearbox rebuilds until I read your post!
- it'll be fine. - its crued but it'll last another 20 years cost free (or buy another from Toyota), then put it back. I was amazed! 
At least this gives me something to go on.- just post up letting me know how you get on and if it works for you aswell If the clutch wasnt disengaging you would get a crunch, probably in every gear. My money would be on the shifting mechanism or linkages over and above the clutch or gearbox internal problems..pukka post Karl...I kept losing the one from my old gearbox, 3 or 4 times it fell out as I was trying to put it into reverse at home and Tesco's....lol...I actually thought mine was that shape for a reason.