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I have driven a lot of trucks where sometimes they do not like going into 1st gear at a stop. In those situations going into second and then 1st usually does the trick nicely.Maybe it is synchro issues, I have only ever driven high mileage trucks, so it would not surprise me. I’m just thinking out loud here, maybe letting the clutch out for a split second let everything line up better for it to go into gear. You said it only shifts through other gears if you are matching rpms? When was the last time you have changed transmission fluid, do you have hydraulic issues with your master or slave cylinder?
if you have never replaced the shifter bushing and seat i would start there. cheapest (and easiest) things first
Sounds like something came loose inside the transmission? I dunno.I think that a bad synchro will really show when shifting 2nd-1st. I've driven a Corolla with a bad 1st gear synchro and you have to be at a standstill or do a bit of double-clutching to make it shift 2-1. I've also seen trucks that did this because the clutch needed bleeding. Remember, to spin the tranny input and make shifting hard takes very little friction, which might not be enough to bog the engine. Can you still shift 2nd to 1st? Did you try bleeding the clutch? Maybe something in the shift linkage is wonky? I don't know. I hope some of my random ideas are useful.
Another thought I had. It can be somewhat common for the clutch pedal bracket to break. I had to weld mine up on my old 4runner, but once it broke I had no clutch action. I wonder if yours could be flexing from an early break?
Check the nut that holds adjustment on clutch master cylinder push rod. Maybe clutch is wearing time for an sdjustment