I would have the gearbox oil changed for a synthetic oil. I have dione this hundreds of times for customers where gear change is difficult cold. Its a great cure and make gear changing much smoother.
You say reverse is difficult sometimes, does it crunch ? if so its a clutch related issue.If reverse wont select but doesnt crunch just let the cluctch up and back down again to spin the gears up in the box as reverse doesnt have a synchro and sometimes the gears just butt up head on hence the difficulty.
If 1&2 or 3&4th are difficult this can be caused by a cracked synchro hub, common on Micra's as they are very thein alloy that cracks and it causes the hub tilt and hang up.
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