[Joshua May]

It's possible, many tranny's are shift-on-the-fly, and the team you're thinking of is Team 33.

I haven't built one of these gearboxes yet, so I don't know the problems, but I'm pretty sure that at least team 116 used a lathe to "round-out" the edges of the gears so that they would mesh better, you just have to make sure that everything is aligned correctly. If you don't get the image of the "rounded gears", they would look something like this from a view facing the gear.

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