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I'm pretty sure the OP is asking about lurching while in 1st gear and the clutch engaged (i.e. the pedal is not depressed). This happens due to the high gear ratio of 1st gear (with the Twins, particularly the 2017+ ones, having a very tall 1st gear), translating small throttle inputs into large vehicle movements. This tapers off rapidly as you go up in gears, barely showing in 2nd and not at all in 3rd and higher. The same typically happens in reverse as well to a lesser degree, since reverse is usually between 1st and 2nd in ratio in most cars (but closer to 1st).
The best advice is to be smooth with the throttle in 1st and reverse, especially when coming on and coming off the throttle - don't stamp on the pedal, instead gradually apply pressure or reduce pressure.
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