If you mean slip as in the engine revs go up and down, it sounds like clutsh slip, Adjust or replace clutch.
SOURCE: clutch slips in 4th 5th 6th gear
i would change the clutch befor they go out and mess up more things
SOURCE: Ive got a 1998 Honda VFR 800. In 6th gear there se...
It could very well be a leaky exhaust system. Today's exhaust systems are made up of various pieces that interconnect to each other. Some of the connections have gaskets, others don't. Most of the time when you've got a leaky exhaust system, you'll also start getting a popping noise out the pipe when you back off the throttle at high speed. Go around and tighten everything up and check for leaks for passing your hand around each connection with the engine running. Don't burn yourself. Keep in mind that the exhaust system expands when it gets hot and it might not leak cold but start when it gets hot.
SOURCE: 1978 YAMAHA RD 400 6TH GEAR SLIPS IN AND OUT
The bike has a slightly bent shift fork and not fully engaging 6th gear. Is there any chance your shoe is putting downward pressure on the shift lever? That would do it also. If it is a shift fork problem, the repair cost would be more than the bike is worth. Finding the parts needed is next to impossible.
To give you an idea of how the ****** works, a generic diagram is below.
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