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I agree with what's been written - pre-load shifter roll-off throttle briefly (may not even fully close, just enough to momentarily unload drivetrain) apply enough pressure to shift, and roll back on throttle. Went through a phase of downshifting w/o the clutch too, but it is harder to get right (smooth) so don't do it anymore. I've never ground gears doing clutchless shifts, but have had missed shifts when using the clutch (esp. 5th to 6th under high accel). The one thing I would add that has not been mentioned is having the throttle cable adjusted to minimize backlash helps (me) execute shifts that a pillion doesn't notice. I can't comment on the mechanical implications of these shifting styles, but learnt the technique from a 'mature' rider that had been doing so for many years (on various Japanese sport/touring bikes), and not experienced transmission issues.
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