You say the bike has done 160,000 kms. That's a high mileage for any bike, and nothing lasts forever.
Clutch drag can become a problem on higher mileage motors with just normal wear and tear. The plates wear notches in the basket and the centre, so when you pull the cable the plates tend to sit in the notches instead of separating smoothly. This will make it hard to find neutral and can lead to clunky changes. The only answer is a complete new clutch assembly.
In turn, clunky and incomplete gear changes will wear selector forks and dogs, leading to jumping out of gear and further wear. Again the cure is complete replacement. Maybe it's time to consider getting a new(er) bike?
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