If the gearbox oil is extremely dirty and gritty this problem can occur. Usually the clutch doesn't want to disengage and the clutch handle is stiff to operate. An oil / filter change followed up 100 miles later with another oil change cleans the dirt and grit from the gearbox. Since you didn't mention a hard clutch handle or that the clutch doesn't want to engage / disengage, I doubt if dirty oil is the problem.
This sounds like bent shift forks. What bothers me is that all gears have the problem. Any chance the teenage delinquent down the block had 5 minutes alone with the bike? Normally, only 1st and 2nd have the problem. They share a common fork. This is major surgery for the bike. Try the double oil change anyway. It is low cost and can't hurt anything.
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