If you want to lift a gearbox condition (restriction) on the Licence that you currently hold, then you have to do a TMR driving test (or be assessed by us if going for an MC upgrade) in a vehicle with the type of gearbox that you want to upgrade to. The type of vehicle can be in any configuration.
If you have a HC licence with a B Condition you can do a practical test in a HR with a non-synchromesh gearbox, you will end up with a HC unconditional licence.
Another good opportunity to get rid of a gearbox condition (restriction) is to do it at the same time as upgrading your licence type
If you currently hold a HR with a B Condition you may want to upgrade to a HC licence using a Road Ranger non-synchromesh gearbox. The end result of this will be an unconditional HC Licence.