I wondered about this myself. One could go to the extreme and do the double clutching that truckers use, matching rev's and all. I'm sure done religiously this will increase longevity of your transmission.
But there is matter of practicality. And when shifted just right, MTX can be shifted very quickly without resistance. I would say my average shift takes less than a second, maybe closer to 1/2 second.
It's really quick when clutch is depressed a fraction of second before gas is let off. Try and see if it makes difference for you. I've been 'experimenting' with this for close to 8 years now.
