Once you have a few thousand miles on the R3 (or any Triumph for that matter), the easiest way to improve shifting is to use a premium oil. It costs more, but the shifting definitely improves.
I suggest trying something like the AliSyn ProDrive 21 (type 3, 15w-40 with a GL-4/5 rating) from Aerospace Lubricants, Inc. Or the motorcycle specific oils from Royal Purple and Amsoil.
The problem is actually in the mechanical design, and it will take designing a new part to actually remedy the heavy shifting. I am talking with a company right now that makes similar parts for other bikes, and they seem interested in designing the part needed. We are trying to settle on the number of parts required to make this at a reasonable price.