Quick question
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I had a Scrambler 500 before. While I never had that problem, it didn't seem like it took that much to get it out of gear. You may have hit the shifter and not even noticed it. There's really nothing to keep you from it. It should have been designed so you can't possibly do it, like basically every other manufacturer did. It just sticks out there with nothing around it. At least on the newer Scrambler 850 and 1000 models, you don't get the crappy shifter.
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Shift the lever to neutral position.Lever should be center of the shifting slot. If it's too far forward in the slot,just loosen the linkage nuts and adjust until it's centered then tighten the lock nuts.Not being fully engaged can cause one to slip out of gear also when you hit a jump.