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If you push the clutch in, and rev the motor, the synchros (on the input shaft side) do not change speed. If you match the revs properly, the clutch slip is minimized. You would have to rev match with a double clutch action to match the synchro speeds. Double clutching takes too long and is generally only needed on LARGE trucks. Symchros wear from prematurely when you force the next gear before they have time to synchronize the input shaft speed to the output shaft speed. Ask anyone who drives an older Audi with an 012 or 016 based transmission.
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