Mine's also a bit like this, particularly in 1st and 2nd. Had a full service inc. box oil and that improved things a little, but it's still a bit reluctant to drop in at times.
The ML5T is cable linkages which are not usually a cause of this issue, unlike the rod linkages in the BE3 or BE4.
My remaining suspicion is the clutch, which is being changed in 2 weeks time, so I'll let you know if that improves things!
2002 V6 SE Coupé (210bhp) - (Aegean Blue)
2002 D9 2.2 HDi Exec Estate - Samarkand Blue PM me for PP2000 diagnostics around Surrey
Yes the biting point is high, that's normal. I'm having it changed mainly because it's done 217k on its original clutch now, and it's starting to slip a little.
It's also getting gradually more difficult to slip into gear, and this is the only thing I can think of that would be causing it.
I'm also having the bottom mount done for good measure since the box has to come out for the clutch, and the driveshaft oil bearings since they're a bit leaky.
2002 V6 SE Coupé (210bhp) - (Aegean Blue)
2002 D9 2.2 HDi Exec Estate - Samarkand Blue PM me for PP2000 diagnostics around Surrey
Had the clutch and bottom mount etc done day before yesterday - wow what a difference! Feels like a new car.
New Valeo clutch, biting point starts a little lower than before but uses more of the pedal's travel before it's fully engaged. The clutch feels a lot lighter.
It is noticeably easier to get into gear, though still not perfect. So I'm assuming the clutch was the major contributor to that problem, but maybe worn synchros are causing the remaining difficultly. Still, it's better than it has been in years, so I'm happy.
2002 V6 SE Coupé (210bhp) - (Aegean Blue)
2002 D9 2.2 HDi Exec Estate - Samarkand Blue PM me for PP2000 diagnostics around Surrey