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As others have said, the only solution is to work on your rev matching. Shouldn't be an issue during upshifts - the solution there is to slowly bring the engage the clutch as you slowly give it gas. Downshifting - that takes a bit more as you should learn your revs at said speed in each respective gear; it will make it easier to match as well as eliminate your jerking for the most part. As others of said, lower your pedal helps, but the fundamentals are still the same, even if you lower it and just engage the clutch after shifting, it's still going to jerk.
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