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Hefty is right here, it might be that you're not used to the vagueness of the A-series gearbox but if you line it up right, it shouldn't need any sort of double de-clutch to get it in gear and it should be crunch free.
Get that service history back out and look at when the oil was last changed and what was used.
The gearbox and engine share the same oil so the Mini gear change is very susceptible to becoming tired when there's old oil in there, and it's true the other way round. Crunching gears and possibly creating swarf in the gearbox is not great for the oil galleries in the engine either.
It might be pricey but Millers 20W50 oil is worth it in these cars.
NurseHolliday
FTFY.
Srsly - the gearbox should go in and out like any other modern car, it sounds like it needs looking at.