I own a 00 RS bought new in 3-03 and experienced the difficult shifting as well. Neutral at a stop light was virtually impossible! I also experienced the miss shifts and false neutrals. When I complained to the very small town dealer, he told me that it would get better after the break in oil was removed and regular oil installed. It was marginally better, but it still shifted worse than my 2 BMW Airheads, one of the clunkiest (but reliable) trannys known to man.
When I continued to complain, I was assured that it was "normal" and would improove with miles. It didn't! When I took it in for the 6000 mile service I mentioned the shifting problem to the mechanic and not the shop owner who had dismissed my complaints. A couple of minutes later after he adjusted the clutch, it now shifts GREAT!
So, I would reccommend having your shop check the clutch for a mis-adjustment.
Good Luck!
Rick