Saturn SL Occasional grind into fifth

[Fourthbean]

Every few times that I go into fifth (usually when coming off a glide and into a pulse) I will hear a grinding noise as if I didn't engage the clutch. The first few times I thought maybe my foot was being lazy and not pushing it down far enough. But it happened once when I KNEW that I had it all the way down.

Before coming to work tonight I checked the clutch fluid level, it looked fine and was just below the change in size of the plastic container. Though it didn't look completely clean, not sure if that would effect anything.

I also checked the transmission fluid. It was right up next to the full line on the stick.

After some googling I have found that some cars simply do this? Kind of seems odd to have a car grind when going into a certain gear and be considered normal.

Would changing the fluid in my transmission to a synthetic help any?

Any thoughts on this or techniques I should try are appreciated. I have thought about going into fourth and then fifth, might try that on the way home today and see if it happens. It sounds like a bad synchro going on, but I don't know that much about transmissions.