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Eyeing the obvious first -- it's possible that the trans was damaged by severe impact to the shifter.I
Crashed in 2010, mostly fork damage, some roadrash.
After crash it simply would not upshift to 4th.
I don't think you have any option except to open it up or replace it. I wouldn't want to rely on it, personally.
$700 seems like a reasonable ballpark for the work, if you're confident that the bike is worth the investment and will serve you well after the work is done. I'd expect that figure to go up (maybe a lot) if any parts need replacing, though, which seems likely. If you can get a new motor for $500 and can do the work yourself, I'd say it's a no-brainer; just replace it, provided you are confident that the replacement is trouble-free.
And I certainly wouldn't trust delicate work to a dealer that botched a simple oil change. :thumbdown:
If you decide to just ride it, you should consider having an oil analysis done on it to see if anything is deteriorating. Only costs around $30, and would give you an idea of whether it can be expected to run like that for another 80k miles, vs being a ticking time bomb. I use Blackstone Labs, but there are others.
Just my amateur opinion. The above is how I'd approach it in your position.
Good luck -- sounds frustrating.