My jeep has a similar problem, It grinds a bit when putting the shifter into 2nd, only when downshifting though. Reverse also grinds a bit like yours.
It also has the same difficulty putting it in gear sometimes, especially reverse. I find that if I take the clutch out when in neutral and then put it in and try shifting again it goes in smoother. I'm talking about at a dead standstill, I go to put it in reverse and something stops it unless I put put both hands on the shifter and yank it into gear, but putting the clutch in and out fixes it.