95 Integra manual with 140,000 miles. Here's the symptoms:

In the morning, I shift into reverse and back out of the garage, no
problem. But sometimes, when I try to shift out of reverse, the
shifter is stuck. When that happens, I need to shut off the engine,
shift into neutral, and then start the engine again. After that, no
problems with shifting for the rest of the day, even in and out of
reverse.

Any thoughts on what the issue may be? Or eliminate issues?