Sounds more like a clutch problem to me? Especially as a blip eases it out of gear.
If you haven't already, get your clutch system bled. Just like brakes and in fact it draws off of the brake fluid reservoir. My clutch slave cylinder (the piston I accidentally popped out of the cylinder when the engine was out
) was full of nasty black gunk at only 10k miles. Nobody ever thinks to bleed the clutch but it needs it perhaps more than the brakes!