Transmission Not Go Into Gear problems of the 2002 Subaru Impreza Wrx

On 8/25 my 2002 wrx wagon would not go into any gear,with engine on or off. I called the dealer and was told to have the car towed in,when it was dropped off I was there,the service person tried to shift it and got it to go into gear. When they tried to engage reverse,it ground the gears 4 times,they said the car was not stopped when they tried,I was standing right there,it was not moving!. This car has had transmission concerns before and has been to the dealer on three other visits where they could not duplicate the problem with grinding gears while driving,this could cause in my opinion a saftey issue ,distraction while driving. Do we have to experience a transmission locking up causing injury or death before it is delt with?. I am sure I am not the only one with this problem.

The standard transmission commonly fails to go into gear. This has occurred at a stop and also while moving. Double clutching is commonly necessary in order to engage the desired gear.