Grinding reverse

Tysus_2011

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2003.5 Mazda speed protege
I'm getting a grinding noise when I try to shift into reverse. It feels like the clutch needs to be adjusted. Could the clutch still rubbing the flywheel cause gears to scratch?
 
I started noticing this today as well. It only does this sometimes, but when I shift into reverse it grinds.. Not like a quiet mild grind. It sounds pretty nasty. All other gears shift perfectly fine. After reading some I read that in most transmissions, reverse does not have a synchro like the forward gears do. And that grinding in reverse is completely normal since its a straight cut gear.. But I have never noticed this problem until tonight. Is it true that before shifting into reverse you should be in a forward gear and not nuetral??? I've read that people say that's the proper way to shift into reverse but I've never heard that.. Could it also be the clutch needs to be adjusted or some other problem, or is it fine? When its daylight tomorrow I'm going to check the fluid to make sure it's full
 
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