Rough shift between 1-2: '22 Tacoma TRD-OR 6MT

Good morning friends.
I'm trying to decide if this is a problem or not. I have a 2022 Tacoma TRD Off-Road 3.5 V6 6-speed manual transmission. I am the original owner, and it now has 47,000 miles on it.
My concern: shifting between gears 1 and 2 seems rough to me. It always has, but I figured it would iron out with miles and break-in. By rough, I mean that there seems to be a momentary gear grind of sorts before it slips into 2nd, when going from 1st to 2nd. 2nd to 3rd and on up feel normal to me, like they should. I have tried everything, revving higher before shifting, revving lower before shifting, pressing the clutch harder, depressing it less, being more forceful with the shifter, being softer with the shifter, and nothing seems to change it. My concern is that there could be a problem with synchros, or something else, and I would need to get it resolved under warranty (5 years, 60k miles).
BUT, I thought I'd check here first and see if anybody else has the same behavior from their truck. If it's normal, I can live with it. If it's not, I need to get it checked out.
When I shift, I do so lightly, with three fingers most of the time, and as it slips into 2nd you can see the shifter bounce/vibrate for a split second between going in, accompanied by a mechanical noise...like a soft grind.
NOTE: I'm not new to this manual transmission thing. I was raised on a farm, and drove stick shift from the time was 8 years old until today. Manual trans vehicles I've operated/owned: Nissan 720 pickup, 1980 GMC 3500, 1993 Ford Escort (best shifting of them all), 1986 Chevy S10, 1989 GMC Sierra 1500, 1995 GMC Sierra 1500, 2001 Ford F250 Super Duty, 2006 Ford F550 roll deck tow truck.

 

Change the transmission fluid and go from there. I've found even with new manuals that are broken in, changing the fluid and removing the break in debris will clean up any notchy shifting.

lots of options and I don't wanna start a oil brand debate so all i'll say about fluid choice is make sure it only says GL4. Not GL5 or GL4/GL5.

 

Have you tried double-clutching? (Put it in neutral and release the clutch between gear shifts, so start in 1st, depress clutch, move to neutral, release clutch, depress clutch, shift to 2nd, release). If that smooths it out, that might indicate an issue with the synchros, but I'd start with fresh fluid and make sure you clutch is adjusted properly and is fully releasing when fully pressed.

 

Ok. I’ll start there. That’s an easy experiment. Because it’s under warranty I’ve had it serviced 100% by the local Toyota dealer. I’ll have them do the transmission service and check adjustment and see how it feels afterward.

 

When I first got my truck it would intermittently lock me out of a 4th gear downshift and the dealer was of no help to me other than saying it take 40k to break in... possible but a long time to not be able to downshift. I changed my own fluid at 10K and it was significantly better so i'm fairly confident it will sort you out too.

 

Sometimes I'll get a rough 1-2 shift as well, sometimes I don't. Normally if I shift slower it's smoother but it not super easy to recreate

 

Not uncommon. Mine does it too. Shifting at around 3K RPM or over 4K RPM seems to work. A slight pause between depressing the clutch and doing the shift also works. It's tricky to do every time without just a little grind. And like you it's only the shift from 1st to 2nd.

 

Ok, it’s sounding more and more like it’s characteristic. But I may as well service the trans and get that out of the way.

 

What fluid did you use going back in?

 

I went with Amsoil

$29 75w-90 Synthetic Gear Lube - 1 Quart (Pack of 2)

75w-90 manual transmission fluid for my last 3 changes.

I find that it lasts about 80'000kms before it starts feeing like it's time to change it again.

I hear Redline's Mt-90 is also a good choice though

 

My truck's 1-2 shift can be rough, usually when I shift it at a lower RPM. I found revving it to 3k RPM or more (>16 mph) before shifting from 1-2 would yield a smoother shift

 

Looks we have about the same truck. I’m hoping mine will smooth out after a fluid change, because I tend to ease around, shifting closer to 2K rpm.