Shift rod and adjustment, or???

You guys on this forum have been very helpful and I thank you all. Some time ago I had to replace the shift arm and linkage rod on the old 3010. It was kind of a pain to get adjusted but it works pretty good with the exception of not wanting to hit the two reverse gears at times. I have never had any gear problems and if figure this is in the adjustment of the rod from the lever to the shift control. Should I shorten it or lengthen it? Any ideas from you guys would be great. At times if you slam it pretty hard it will go, otherwise it will just grind. I don't have the problem in any forward gear.
 

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