An old trick for this (it wasn't just in the Honda 500-4, but other bikes, too, like Yamahas) was to weld the tines of the shifter forks to make them wider. Sometimes the slip groove on a given gear was cut at the allowed max width and the fork that the engine got happened to be at the other (narrow) extreme, so the dogs did not engage very deeply. Sometimes the cheapest 'fix' for a given tranny was to widen (sometimes just one side of) the fork tips. If the dogs are rounded (and/or the companion slots tapered from the dogs), often just a "refurb" (often called a "pull-cut" or "back-cut" of these mating parts) is all that is needed. In the USA, you can get this done at APE (California) or Fast By Gast (Buffalo, NY), not terribly expensive.