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Switching to Motul fluid and rev matching helps a ton but ultimately you just have to let the trans warm up.
Then again im pretty convinced my trans has a bit of an attitude. Some days it will shift through everything perfectly smooth regardless of the temperature. And some days 1st and 2nd are just not having it even if its completely warmed up.
TL;DR Just take some time to learn your trans, they all have their own personalities but new trans fluid and rev matching does help.
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