It's been a while, but I wanted to update this.
Last week I had the original clutch changed out in my YJ. Clutch had 198,000 miles on it and was original from the Jeep assembly line.
Now that the new clutch kit was installed, the AX-5 happily shifts into first gear. It appears that the clutch was not fully disengaging (or it took several seconds for that to happen).
I'm very happy with how it shifts now, so hopefully it seems that my synchros are fine.