1st to 2nd gear hesitation

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11 MS3 Sport
Not necessarily the engine. If i'm driving from a stop, and I try to shift from 1st to 2nd in lower rpm's, I get this rough hesitation, the shifter almost gets bumped away from 2nd first before it falls in, and it makes a nasty grind. I've got the clutch full in, and try to time it properly with the accel. It seems to happen almost ALWAYS when its cold, and when it's warm, I think it could be me keeping the gas pedal on too long as I'm clutching in, because it does the hesitation while the rpms are still floating or about to fall it seems.

Any tips? I've got the rest of it down pat, but this is something that irks me everytime and i'm hesitating myself on taking it to the dealer. I'd rather not have the trans be touched. Last time I did that with my last car, it was never the same again.
 
Also too, why would my car's clutch be super light, while the identical vehicle with more miles, has a stiffer clutch? Is this a sign of excessive wear?
 
If it helps at all, my 2008.5 MS3 has a super heavy clutch. All I need to do to release it is just press it in lighter and the pedal moves my leg out of the way.

It was like that from the showroom. I'd say maybe they didn't top up the clutch fluid all the way? (Its a hydraulic not cable clutch).
 
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