You want the engine to be at the correct speed for the next gear before you let off the clutch. It's a balancing act, and it just takes practice.
Go search for the threads on the "clutch helper spring" here. If you take it out, you'll get a better feel what the clutch is doing. It takes twenty minutes.
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2011 MB Touring-Sport-6sp-Nav/GTM TT/FI TT TDX/JTran/Kosmic/Eibach/Hotchkis/SPC/CSF/RPS/SoThatsWhereAllMyMoneyWent
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