I have a 2000 Prelude, and it had occasional grinds, usually 2nd to 3rd gear. But this was when the car was new. It also occured when driving hard and trying to shift at redline. One time, at about 7000 rpm, I tried to shift into third and it wouldn't shift at all!!

The problem has stopped as the car acccumulated some miles on it. I hate to tell you this, but I think it took until the car had almost 30K on it before it stopped grinding altogether. I've got 80K on it now, and the shifting is as smooth as silk, never grinds and never a problem. I never took it to the dealer (though I thought about it) I hate having people working on my car, taking it all apart. Chances are they may not get it together right again!