by experience and being taught by a pro biker too never to shift gears on a standing bike as they will act notchy no matter what machine it is, Always shift when the machine is moving. i.e. if you are coming to a stop ensure that the foot pedal is just one flip away from neutral just before the last 1 or 2 ft shift into neutral.
Thats how I shifted and never got stuck gears even on Yamaha RX-115 gearbox which is renowned for dummy neutrals.