It could be low on oil in the trans, though that is something you usually hear as a problem. I'd expect to hear some whining bearings. It is worth checking and topping it off though if it is low.
If the clutch isn't fully disengaging that could cause hard shifts. Try this, put it in neutral, running, with the clutch pedal out. Push in the pedal all the way, count to 5, and then try to get it into reverse shifting it in a little slowly. If there is sort of of grinding feel in the shifter like the gears are still spinning, then the clutch needs to be adjusted. If that is the case, the cable may be stretching, signs that it needs to be replaced soon. It could also be the pilot bearing sticking, but that should whine or make a fair bit of noise when you have the pedal pushed in.
Besides that, the list gets bad pretty quick, worn syncros or gears in the trans, bad shift forks, etc etc. Hopefully it is something simple though that you can fix cheap and easy.
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95 Isuzu Trooper Daily Driver
86 Isuzu Trooper reliable backup
77 LUV 2wd stock beltway blaster (resting)
79 4x4 LUV project: 2.6L, 5spd, 31s (eventually)
MEPR: Man, my 4x4 makes all other LUVs look good
