As others have pointed out, there could be a few different causes. Anyway, I have the same issue with an old Farmall h that I picked up last year. I simply run with the belt pulley engaged at all times. Having it engaged provides a little extra drag which helps somewhat, but what is most helpful is that I have a great visual indicator to look at in the belt pulley itself. Never try to shift gears when that pulley is still spinning or you get loud grinding. Wait until you visually see that the belt pulley has stopped completely and all will be okay with shifting gears.
Not a perfect fix I do readily admitt, but there are only so many hours available to fix things for us part time hobbyists anyway. I intend to get to the root problem eventually when time permits - sigh sigh as I have no idea when I will find the time.
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