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Once you get the "feel" of your transmission it really isn't all that hard to do. I think that's what the driver instructors wanted anyway. For the students to learn to "feel" the transmission and truck in general. You make better drivers and the equipment lasts longer.

My instructors in the Marines taught me how to shift without using the clutch at all. You had to be able to start from 1st gear then upshift to 5th then downshift to second without using the clutch. If you "ground" the gears at anytime you failed. I actually had to do this when the clutch failed...

If your transmission had previously been abused and you acquired it and then repowered it then yes the extra torque could have caused the last remaining clutch dogs to let loose . You never know what the last owner did or did "not" do like change the oil on a regular basis.

Basically abuse. Remember when the 3053 is in 5th gear it is "not" spinning but is engaged to the main shaft by the synchro. So that is not the cause. The main shaft is spinning faster then the input gear so the roller bearings in the input gear are working just like they are when in any other...