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To shift up, no, a full clutch squeeze (disengagement) is not required. To shift down, it is strongly recommended to completely squeeze the clutch in. Sqeezing the clutch lever all the way in to the grip reduces loads on the transmission, so in common street riding applications it is best to disengage the clutch fully while shifting either up or down.

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Q: While in good motion is it required to press clutch fully to change gear?
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