I have an 04 6spd, just got done with mine around thanksgiving. Was having same problems as you, hard to get in and out of gear when parked and engine is on, lots of grinding and slipping. I changed master and slave, while doing so, realized my clutch pedal bracket was cracked, I don't know for how long it was like that, probably means i was never fully stepping on the clutch pedal. Had a friend weld the pedal, bled everything and shifting in and out gears problem solved, but then once I got to that point realized the clutch was slipping badly. Was quoted $1600 for parts and labor for clutch job. Ended up doing it with friends and some beers, took us about 12 to 13 hours over the weekend. Now that I've done it once on my TSX, I think I could do it again in like 7 hours by myself. Could tell you more about it if you want to know.