What is happening to you is worn out sincronizers in you transmission. They are used to mesh the gears between shifts. They are made of brass and wear out easily on the 2nd gen cars. It grinds normally going into 2nd gear and into 3rd if its really worn. If you want a stronger transmission buy the 93 and up 3rd gen tranny. It is an upgraded transmission with dual sincros. Yours does need rebuilt. Or you can find one on the MR2 board for a good price used. I prchased a 93 trans for $1000. An older one will be about 200. Also it depends if its turbo, lsd or not. Good luck!
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