The dealer is gonna rape you good for that... A $10 job into a $300 job i bet....
Near the left foot peg on a 200ES i would almost bet on a shifter shaft seal. A few bucks and its easy to replace. Remove the shifter from the shaft, one bolt and a flat screwdriver to spread the end a bit, then a scratch awl or a pick and you can work the seal out, a deep well socket about the same size as the seal and will fit over the shifter shaft is all you need for installation. Clean the shifter shaft good, put grease on it and the inside lip of the seal. Also pack the back side of the seal in grease so the tension spring can't come out. Slide it over the shaft, use the socket and a rubber mallet and tap it in slow and easy, replace the shifter and your done...
You don't even wanna know how many of these i have done... LOL
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1984 Honda ATC200ES "Big Red"
1982 ATC200E "Hondie"
1988 TRX300FW "Project Quad" Still in progress....