The W55 has no synchromesh on reverse, so it will always grind if the input shaft and/or output shaft is spinning when you try to select it. If this happens all the time, this means either you need to improve your driving style or your clutch isn't disengaging properly.
As for your other question, definitely replace both end seals while the box is out. It's cheap and easy to do and you'll be cursing yourself if it starts leaking a few weeks after you install it.
Tue, 28 October 2003 09:10
or your clutch isn't disengaging properly.
