Yeah, I learned on a stick with my first car, an old 1980 RWD Celica, and never had an issue... Have had over eight cars since, all manual, and no issues whatsoever. The Celica needed a clutch after the first 30000 miles of me learning on it, but that's the only item that was transmission related that I've ever needed to replace.
The synchros from 1 to 2 and from 2 to 3 grind, regardless of if I shift under hard acceleration or not, and generally only bring first gear up to about 4500 before shifting if I AM accelerating hard, then 2 I'll do at 5500, and three at 5500. But generally I only bring each gear to around 3500 before shifting. And as I said to the dealer, I babied the car for the first 2500 miles to make sure the clutch didn't wear down, and it still ground once or twice durring that. Uugh. And they're giving me a hellish runaround to try and get it fixed, now. Damnit.
As a side note, too, generally it grinds more frequently under moderate acceleration or undershifting the car, and shifts smoother from 4500 to 5500 RPM. I shift using my fingertips, as that's how I used to drive my Celica and the MR-2, as if you let off the gas, clutch, shifted, or broke too fast in the MR-2, it would death-frisbee on you.

The Celica was just a lot happier shifting slow and smooth, and bringing it around corners lesurely, but fast... I personally beleive it's all finesse that lets a car move fast, not being the first one to mash the gearshift into the next gate. =P Then again, I also dislike drag racing.