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The A11 and D2 have slightly different transmissions (gearing) but the 2nd gear issue is the same. It is likely that the shift forks are worn flat and the detent on the external shift mechanism holds the shift drum but the fork slips on 2nd gear. I believe the engine needs to come out and the cases split to service but I would have to look at a service manual to be sure. It would be nice if the forks could be swapped without pulling the engine. Check a service manual or Clymers for shift fork replacement.
 
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