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^^Agreed. If you are experiencing it rarely then chances are if you are driving more spiritedly or are doing things by muscle memory and aren't fully aware of your motions, then it is highly likely that you may be just barely missing the full disengagement point by purposefully only pushing the pedal just enough. Like it's already been said, fully press the clutch pedal when changing gears at any time.
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"Driving is the synchronization of vision, analysis, and movement. It is an art form." -Unknown
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