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seems like two conflicting things
a warn / slipping clutch will let the engine rev and slowly start the car moving and will seem smooth.
a grabbing and bucking engagement often comes from a rapid engagement at too low an rpm. starting in 2nd will require more slipping of the clutch and will seem to start smoothly.
side note: clutches and brakes often work better with a little heat; also a competition clutch is more difficult to engage smoothly it likes to be in or out.
perhaps a little more info would help problem solve.
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