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Yeah, you want the servo travelling just to the point the gears engage. Too much and you are straining the servo and applying unwanted force to the shift linkage inside the trans, causing wear. So setting your servo endpoints is key. i typically will manually shift the gears and scratch a...

The small ones you normally see on transmissions to shift gears, or used on axle lockouts. Or on dig units.

That's a good point. If the shift servo isn't set properly, it may not be fully engaging the gears.

Could be a loose set screw on the drivetrain somewhere, like a driveshaft. Time to start digging into it.