In any case you should be able to shift into a gear with no synchronizers or working synchronizers while stationary as after short time the input shaft should stop and would not grind any gear, the fact that you grind the third gear while stationary shows you have a clutch that is not working correctly.
You need the TM for that truck and go through the procedure to adjust the clutch, if that procedure goes as shown in the TM and you still have problems then you may have to replace the clutch, if it goes as as detailed in the procedure and you can shift into third while stationary then you have fixed the clutch issue but still have bad syncros in third gear and can probably can live with it by double clutching.
If there is a problem adjusting the clutch as outlined then you may have a linkage issue, I would assume a 1999 Unimog would have a hydraulic clutch so there may be issues with the master cylinder/slave cylinder.
There are likely others that can guide you through that process much better than I as I said I have no experience with the U99