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FYI, my 2017 RX3 also pops out of 6th gear. 7000 miles on the clock, but it's been doing it for the last 3000+. Basically, when shifting into 6th I have to be careful. I preload the shifter, clutch, shift, and I feel the shifter move halfway into gear. Then I let the clutch out slowly while maintaining pressure on the shifter, and it will proceed the rest of the way into gear. If I mistime the clutch/pressure action it will pop out of gear into a false neutral. It does this mostly when hot. Hot days plus hot motor. It does it less frequently in the winter, but still does it.
Charles.
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