Your symptom are a little similar to mine. I have trouble shifting in 1st at a stop when warm. Shifting out of 1st into 2nd is very notchy. All other gears are "fine," just slightly notchy. Reverse is ALWAYS grinding, unless I shift into 4th then R.
I too was wondering if my synchroes were going bad. My searching the 'net lead me to a bad hydro clutch system. See attached https://www.jeepforum.com/threads/ax-15-won't-go-into-1st-when-warm.748660/?post_id=6969186#post-6969186
I have a "pre bled" hydro clutch. It does not have a bleed screw. I tried to follow some videos on "gravity" bleeding the clutch. Remove the whole system from the vehicle. mount the master cyl up high, with the slave cyl down low. Slowly pump the slave push rod to force any air up to the master. This method has not solved the problem.
Has anyone ever disconnected the line from the master cyl, drained the hydro fluid and added fresh fluid? The line is held in by a roll pin.