I have a scenic 2 1.6 manual and I also experience an irritating issue with gear changes. Changes are notchy and the gear stick has an irritating movement to it. But Renault says that it is absolutely normal
I think you have the 5 speed box, the 2.0 litre has 6 gears to get irritated by.
Particularly noticeable notchy noise between 2nd and 3rd. The notchiness doesn't happen if you are stopped and just going through the gears.
I am not surprised by Renaults response. They will say anything to avoid doing anything about it. Their attitude is almost comical.