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Just went through this on a 550, twice. Overhauled the transmission, twice. The second time had to put two new gears in because they were chipped from banging it in gear to try and fix it, so make sure you fix it right away. Anyway, to cut to the chase. Our problem ended up being the square linkage. We took it off and twisted it with two creasant wrenches. It doesn't take much.