i don't even have an operational machine with a t-20 yet, but mike told me a litle trick a few weeks back when i was running his max 2. use 1 hand to slap both laterals back while using the other to shift. you basically want the laterals to be bouncing back and forth while trying to shift. this will allow the gears to keep turning and get lined up, but slow the drums down enough that they find their happy place at a lower speed and with a lot less grinding
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