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Into reverse or out of forward ? I'm presuming you must be driving in forward when the problem happens.

If it just sort of works it's way out of gear without any great force to start, then perhaps gets kicked out forcefully, then probably bad adjustment or the detent(a position holder) on the shifter might need work.

If it tries to jump out forcefully, and harder the more throttle/load you give it, then it's probably the gears need work inside the box.

Check the cable and lever positioning notches, and engine mounts... A manual will tell you haw to adjust the cable.

Edited by Mech
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