As you bought the car from a main dealer, there is no question that it is still under the remainder of the 5 year warranty it had when new.
But I am wondering whether the issue you describe is actually a problem, or a 'characteristic' of the car?. Not all cars have smooth gear changes and if you've come from something with a particularly slick shift, it would exaggerate the perceived problem.
I'm a bit puzzled though, if I'm understanding your post right, you did research and found evidence that these cars do indeed suffer from gearbox and/or clutch problems. Presumably you also test drove the car before purchase, so experienced the gear change before signing on the dotted line, but you went ahead and bought it?.
But as others have said, you do have rights, even ignoring the warranty (though as skidpan says, if it is the clutch, the warranty won't cover it, not on a 27k mile car). But you definitely need to deal with the problem through the dealer. And, as has been said, ask to try another example if they tell you that is just how the gearshift is.
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