1994 R1100gs. 1st to 2nd easier a little higher up the rpm range, preloading improves gearchanging. Complicated by bigger boots.
2006 K1200r. N to 1st...CLUNKY unless I roll the bike slightly whilst I press the lever into 1st. Waiting a full 4-5secs before selecting 1st seems to help to, especially if warm. 1st to 2nd best earlier in the rpm range then just hold on thereafter...preloading also best with this bike.
I've used this technique for a long time now and it's my default method. If I don't do it, I just find it less "direct", like there's a momentary lag in selection. I expect it gets down to what you get used to and train yourself to do better.
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