I just bought my 01 warrior and put $250 bucks into it for buying parts and i took it out for a spin and I was ripping down the road in 6th gear and all of the sudden its like it went into neutral and I could hear something grinding and I knew it couldn't be good. I put it back into the forward position and drove it again and it did the same thing. so I got ticked off and parked it in the garage. I noticed it had a lot of slack in the forward position, I could move it back and forth while it was locked into the forward the gear, but reverse has no slack at all in it

 

They can be a little tricky to get to stay in forward alot of time ill have to give mine another shove after trying to move forward a little bit. That being said it sounds like yours might have a bigger issue if popped out in 6th gear mines never done that. Mine has a fair amount of slack when in forward. Try to lube it up and make sure something not keeeping it from popping all the way down when in forward and it looks like you can adjust some slack out of it whith the connector bar underneath it. Sorry cant be more help but good luck

 

I agree with bberck mine has never came out in 6th gear. it has came out in 1st a few times. you mite try putting it in 1st rolling really slow and just kinda work it forward and see if it gives a little and slid just a litte forward