Whilst driving, when I take my foot off the accelerator in 5th gear, the stick/vehicle goes into neutral. It's doing this more and more.
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I have this problem occasionally on my old Subaru Forester as well. My research indicates that it's essentially just down to wear in the transmission or connected parts.
In particular for my car a backed-off nut on the rear of the transmission's input shaft is often implicated.
I'm not familiar with the specific makeup of yours, but easy-ish stuff to check would include:
Beyond that, I think you'll be opening the tranny case to look at bearings.