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Mine does and my wheel rumbles as well when I missshift.
In game Options/Controls there is an option for advanced gear shifting you can activate the grinding there.
I'm learning how to double clutch (need console to enable it) and the firsts days, oh boy did I grinded that poor box
You'll have to double clutch, although with practice, you can shift clutchless if you hit the right rpms. It's a nightmare at first, but once you get used to it, it's the only way to play.
When you shift to the next gear, you press clutch pedal, when on neutral release the clutch pedal, press it again, then go to the next gear.
This stops the input shaft, I believe, which let's you go into gear. This is how you operate a non synchronized gearbox.
Once you get a feel for how it operates, you don't even need the clutch to shift. You just learn the speed and rpms for every gear.
since 1.39 g_clutch_brake
I can't tell if it works as a RL one or if it's functional at all.