I've noticed the lash issue as well on my R3T. I have found that if I shift out of 1st sooner once I'm rolling I don't have the issue. I have also found that it is as much about matching up your rpm with the gear your going to also makes a difference. The rpm slightly higher than needed. Keeping the rpm up to match the change is one of the secrets, but not always easy to do perfectly. When to choose a lower gear it is also important. Whenever I feel a little lash or jerking in town at in town speeds, I know I need to pick a lower gear. I never let my engine lug, so I prefer to be in a lower gear in town rather than running in a slightly higher gear.
One more thing I have noticed is....if I use the heel shifter when moving up in the gears it just feels smoother. I've always been a toe shifter because of the bikes I've had, but I'm working on using my heel more. It just feels smoother as you don't feel the shift/gear change as much through your heel as you do through the top of your foot. Just my observation.