If you’re at the same driving speed, the differential isn’t changing speed when you shift from 6th to 5th. Sounds like it could be an issue with 6th but I’m not following how it might be the diff
sometimes you have to re-pump the clutch to get the shifter to go into all gears. Might not happen with one continuous press of the clutch as you go 1-2-3-4-5-6-R just from the way the synchros lined up when everything stopped spinning. That's on any stick shifter.
Is it leaking manual transmission fluid? I had an old Subaru that did that but it was 150k+ miles and rusted out. The gears were starting to run dry
Otherwise it sounds like you weren’t fully engaged in 1st and so the gear popped itself out
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