Transmission Not Engage problems of the 2005 Acura RSX

My 05 Acura Rsx type s with a 6-speed manual transmission has a problem where during shifting from 2nd to 3rd gear (with the clutch fully engaged during the shift) it pops out of 3rd gear when the clutch is disengaged. This problem occurs about once every 7 hours of driving for me. When this occurs, the car shifts easily into third, like it normally would, then pops out when the clutch is disengaged. Occasionally there is a pop sound when this happens but sometimes it cannot be heard. This has lead to some frightening instances where the car has been in neutral, when I though the shift was successful. On my commute this often happens when turning left through an intersection and when merging on to the freeway. I had one instance where I merged onto the freeway in second gear on a snowy day, attempted to shift to third, and had the car pop out of gear twice, slowing me down significantly and unexpectedly without the benefit of brake lights. Luckily the car behind me was able to move into the other lane to avoid braking hard in snowy conditions. I have brought the car in 12 times to have this problem repaired and it still is not fixed. This appears to be a growing issue with Honda 6-speed transmission.