From the way you've described it your gear stick linkages maybe on there way out. When changing gear does the car resist getting into gear?
If it's more of a crunching sound then I would try double de clutching, to do this you need to:
change gear as usual but instead of holding down the clutch throughout the gear change hold it down to take the vehicle into neutral then release the clutch then push the clutch down again and change into desired gear.
To change down it's basically the same principal but you push down the clutch to put the vehicle into neutral then push the throttle down just to pitch revs then release the throttle and push the clutch down to change into your desired gear, if it won't go in to gear easily then rather the throttle until it does.
You can go onto youtube and search for double de clutching and I'm sure some results will come up
hope this helps!
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