Something I notice with a lot of people that I teach to drive trucks, is that they want to push the clutch in and pull it into gear. It may not have any bearing on your particular case, but may help others.
When you push your clutch pedal in, push it completely down, then count to two slowly, and then pull it into gear. With trucks that have clutch brakes, it tends to allow the spinning gears to come to a stop before you try to engage them.
If there is any improvement, it won't cost you a dime to do it this way. If no improvement, it only took you a few seconds to read this, so minimal wasted time.
David from jax