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I (unfortunately) live in a very stop-and-start city, and every so often when I let out the clutch, the gearbox/engine makes a horrendous sound and the RPMs jerk between 900 to 1200 while my foot is stationary on the gas. On the dash computer it says "Engine Fault Service Now" with an OK option. I once tried to drive through this and I can make out something (gears?) grinding. The first time this happened, I checked fluids and everything was fine. The only way to cure it is to restart the engine, then everything returns to normal until this happens again. This incident has occurred twice since Halloween, and I see no other posts on this subject.

The car has 14,800 miles, have owned it since June 2014, learned to drive stick on it, and has done almost a whole season of autocross

Anyone have an idea as to what this could mean and how to fix it? I'm guessing this is a transmission/clutch issue since this only happens when I let out the clutch.
 
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