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It's always going to be tough since Auto can just let you lazily transition from break to gas quickly and effortlessly. When I started out, being more aware of the traffic and when the light will change - pre-empt your gate shift to first, kick in the clutch, and remove break last (slightly before light change) and feather the gas. Key is to find the sweet spot as you release the clutch where you can release immediately at the same time as adding considerably more gas without additional slip/rocking the transmission.
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