Heheh. Anyone old enough to remember double declutching?
Yeh! the Morris Minor (1000 actually) was a bugger getting into first. I found it went in sweet as a nut if you were rolling backwards, not forwards! go figure. Angle of the gear teeth?

I only realised what a dog gear was when I looked over the Baughan sidecar (Stroud 1920/1930s) it drove the sidecar wheel to win motorcycle trials. It was banned so they fitted a retractable dog gear. The best way to describe it is a lot like a chunky screw driver blade and screw slot (slotted types).

I drive a Toyota Yarris and it will never go into reverse standing still (well almost never) without a lot of grinding. Double de-clutching is mandatory, revving or not in between makes the probability about exactly the same.