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If it's on warantee you might as well fix it now. That noise is not supposed to be there and a lot of things could cause it. Most of the gears are turned by the driveshaft end including the cluster gear which is in mesh with the other gears even if they aren't locked to the mainshaft by the syncros. It could have always been there and just getting worse but I don't want to speculate what it is. They have to fix it.