Yep, just take off the CVT cover (and exhaust if it's in the way), then remove the variator fan plate and belt.
Once those are off you can easily slide the variator assembly off and lift off the top plate to inspect the rollers.
I wouldn't think it was actually popping out of gear... does it even have a reverse on it? If so, then you might inspect the forward/reverse cable and see if it's centered correctly. Sometimes when they are not adjusted correctly you can indeed pop out of gear momentarily when under load.
The problem with this happening repeatedly is you begin to shear corners off the gears in the gearbox and it gradually gets worse and worse.
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- Mike
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