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There is a garage called honda hq based in cannock. I've been advised to go there and get it checked by them as I've heard they are honda specialists.
It's 21 deg c today not sure if weather plays a part...
let us know how you get on at HondaHQ. it's on my bookmarks as a place to try - far closer than Dream or TDI.
temps definitely make a difference. much like the feel of the car between winter/cold engine and summer/hot engine.
as others have noted, clutch up and down to retry always seems to fix it for me. what i'm thinking is the gears aren't that well designed in how they mesh between changes. when you get half engagement, it's like the gears can't mesh. clutch up & down and the gears will move slightly and engage at a different point. It's the only honda i've had this on (4th one now, maybe last). reverse has always done it from new for me, which includes 2 clutches & gearbox repair.