yeah, its annoying, but it will go away withbetter fluid. its been discussed many times here. its specific to the G5M-R tranny that we have. they upgraded the tranny in 2003 to the G15M-R tranny so this problem went away
I found it only grinds when you try to up-shift too fast, I just let RPMs drop a little before I go all the way into third. You don't lose much time and you save your tranny.