I'm having the same problem with my R32.
The car has difficulties engage to second if the revs are not right.
when braking, if the gear is in 2nd or 1st, if I don't shift to neutral before a complete stop, it is very difficult to push out of gear in the last few meters before stopping. And even with the clutch fully disengaged, the revs drops and almost stalls when coming to a stop with gear in 2nd or 1st, but once the car is stationary, there is no problem moving in or out of gear.
So to me it definitely feels that the clutch is not disengaging correctly, I'll give the method shown here a try and see how the OP goes with his attempts.