I was really getting frustrated with the 1st and 2nd grinding in my insight also. But then I learned to double-clutch. At first double clutching every time I went into 1st or 2nd while out of the speed range seemed a little cumbersome, but now after doing it for a couple of months, its become second nature, and my 1st/2nd gears rarely get to grind, because I always double-clutch.
its like learning to drive a manual car, at first all the gears changing etc seem complicated, but then after a while you become used to it, same with double clutching.
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