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Over the years, I've just gotten into the habit of slightly rocking the bike to pop into neutral from 1st... works like a charm. Although my Kinroad has neutral all the way at the top, so I can't miss it!
As for neutral at lights? I'm guilty. On known LONG wait lights... after the cars around me have settled... in particular, the guy behind me has stopped... I'll shift into neutral to give my hand a break and use the pause in riding to stretch or roll my shoulders and stay loose.
Ride safe! Cheers!
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