Pretty simple i had that happen to my 05 atp and on the right side pull the shift linkage off open the housing and one of your gears broke in there
My 2005 Polaris ATP 500 requires I depress the right foot brake while shifting into reverse or down into low range. Perhaps some adjustment on the foot brake to make this work. Also check linkage to make sure it is not binding. Others say if the idle speed is too high, you may not be able to shift. Try shifting with the engine off to see if it goes into the gears, using the foot brake. If yes, try again while at low idle speed.
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