It sounds like a slightly bent shift fork and / or a broken gear tooth or two. Getting to the shift forks and gears is a pretty major undertaking and the repair is not recommended for the novice mechanic. Your best bet is to take the bike to a dealer and let a mechanic make a determination as to the problem. Transmission repairs are somewhat expensive. A single cylinder bike may cost $750 or so to fix. A four cylinder is more likely to be in the $1700+ range.
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