TAMD41 IO shifting issue

[Pentaproblemo]

Hello all, I have a Volvo Penta 200hp TAMD41 io with a dp-e drive w/ duoprop. Shifting into neutral causes harsh engagement. It essentially clunks into gear going to forward an it sticks and will not smoothly go back into neutral. Reverse is ditto. Also just at idle I can feel vibration. So after doing some research i found that it could be the shifting actuator. Replaced that an no dice. Someone else told me it’s likely my u joint. I’m hauling the boat out at 4am tomorrow to drop the leg. Could the u joint be causing the shifting a vibration issue? I’ll also add that I disconnected the cable from the stern drive to bypass an ensure my issue is not related from the helm or shifter cable. When it was disconnected and I manually shifted by hand there was no change so I know the issue is in the stern drive. Any insight would be greatly appreciated!

 

[AllDodge]

When it was disconnected and I manually shifted by hand there was no change so I know the issue is in the stern drive.

It could be a few things but the clunking and vibration would mean the drive needs to be removed and inspected.

When was the last time the drive was removed, inspected and gear lube changed?
Last time the drive alignment was checked