My k4 did that for a long time until this past weekend when I finally fixed it.
First, an easy suggestion. Have you changed the oil recently? Old oil, or poor quality oil can make that happen. Sometimes a change is all you need.
I had the problem even with fresh oil. Once hot, no shifting into neutral. I did three things.
First, rebuilt the oil pump to ensure I was getting solid pressure. I have a gauge and noticed a considerable boost afterward. I used 'Elan's kit' for this.
Second, I did Hondaman's clutch mod, which essentially involves adding more oil holes in the clutch basket, making it less likely for the plates to stick and not allow smooth shifting. This was really easy and only took about 1.5 hours including getting the clutch out and back in. It's in his book, and there are also many threads on the mod here. All you need is a drill bit, and maybe a new clutch cover gasket.
Third, and I suspect this was a big one, I replaced the rock hard and flattened seal behind the shift linkage which supplies oil to the shift dogs. You have to take the shift cover off, then remove a part of the linkage in order to remove a small cover plate and replace the seal. That was moderately tedious for me as I've never worked on the linkage, but I had it sorted within an hour.
My shifting is like GLASS now. It is a massive improvement.
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