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I get this too and find switching modes will stop it as well as slightly higher rpm at engagement (even 250rpm) will eliminate it for me. This was also brought up on the m4 forums as well and I think the consensus is that it happens due to the highly frictional material on the clutch disc which would also explain why it happens more to me after I've been driving it hard for a while. So far, the two methods have solved it for so I'm ok with it.
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