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I've had my 97' OBS PSD since this past October. I bought the truck from a trustworthy friend. Shortly after I bought the truck she started grinding while going to 4th. I know the transmission was serviced including a flush at 130,000 miles and I now have 170,000 miles on the clock. The truck was brought to a PSD savvy shop and I know they used synthetic Mercon (spelling?). On another note, the clutch was replaced somewhere near or before 30,000 miles. Are these ZF's temperamental or is there something wrong or misadjusted?
Check the Pedal box bushings and the clutch rod end linkage.
They are probably bad and the clutch isn't disengaging fully.
Which really means when you sit there in gear with the clutch in at a stop, your burning up your clutch for no reason too.
Generally they will get grindy in 2nd gear cause its used so much. I rarely use 4th in mine unless i'm driving in the city.