"You describe a typical multi-
"You describe a typical multi-disk clutch problem.
Been fighting that for years with Hurth and ZF and BMW drives (Hurth)gearboxes with multiple attempts to solutions.
Some works, some acts just like yours.
The multi disc clutches have some advantages and some dis-advantages.
The pro is you may shift at higher rpm without transmission damage.
The draw back s are mainly what you describe.
There are a few traps.
Oil quality and contamination is a killer, as well as synthetic oils. If the oil-film gets too 'good' you are in trouble.
next up is shift cable travel and adjustment. Too tight cable and it does not go properly into gear.
Then shifting technique. Shift decisive and next to brutal! It should be a 'bang'. Soft careful shifting polishes the clutch disks and burn the steel-plates.
Sometimes it helps washing out the gear-box with a mix of kerosene/diesel and 1/3 oil. Run in idle, shift forward and back several times, drain and fill correct oil.
Shimming the pack to tight may worsen the problem as the oil gets no chance to clean out between the disks when not engaged.
If when dismantling you find 'blued' out steel disks, change the big bevel springs at the end!
the best would be some nice color picks of your dismantled clutch package to see what has been going on."