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I'd check the shifter first. Sounds like you may not be getting enough throw in the mechanism to get the gear into position. Inspect all bushings, disconnect coupler in the access panel and attempt manually engaging the gear.
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“Of the value traps, the most widespread and pernicious is value rigidity. This is an inability to revalue what one sees because of commitment to previous values. In motorcycle maintenance, you MUST rediscover what you do as you go. Rigid values makes this impossible.”
― Robert M. Pirsig, Zen and the Art of Motorcycle Maintenance: An Inquiry Into Values
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