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Selecting 5th gear and then going back through the gears

I have an audi a3 tdi which i am experiencing problems after I have put it into 5th gear and then have to slow my speed so have to go through the gears back to 2nd but it gears get stuck and make the car stall where cannot get the gear into right speed. Will it need stripping and a new gear box fitted or can an adjustment be done to prevent this from happening which shouldnt cost too much. how much would either of these problems roughly cost

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