Have you tried double-clutch technique ? Press clutch to floor, put gear lever in Neutral, then release clutch to the top, press again clutch to floor and try shifting again to any gear.
I've noticed my Manual Transmission was a bit quirky at the beginning only when going from 1st Gear to Reverse if I didn't do double clutch. Other than that it has worked very well for me. (The Venue 2022 Manual mentions that before shifting to reverse the car should be at complete stop. Pages 6-12 to 6-14).
If you get too many issues with the clutch is basically a brand new car with only 3K so take it to the dealer to have it checked out.