are u riding really hard ? have u had the fluids been checked in a while ? are they up to the level ?
i know auto honda trannies have a problem with a valve that i don't know the real name, but ig that thing is cleaned up the shifts should be real smooth.
My car used to do that when i was riding really hard on it or when the weather changed from cold to warm, but it did go away after i overfilled a bit the tranny. my guess is that the valve is stuck and needs more fluid to be activated (or more pressure). i'm noit tha tranny guy.
Also how is your linker cable ? if it is out of adjustament it will cause this too.
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